From e6851c85f1ca09cdd2d62ae93538f3e8a36e846f Mon Sep 17 00:00:00 2001
From: shalenikol <shaniks77s@gmail.com>
Date: Tue, 20 May 2025 10:25:11 +0300
Subject: [PATCH] add package rbs_tests (with testing recording demo)

---
 rbs_tests/CMakeLists.txt                      | 12 ++++
 .../integration_tests/integration_tests.py    | 61 +++++++++++++++++++
 rbs_tests/package.xml                         | 16 +++++
 3 files changed, 89 insertions(+)
 create mode 100644 rbs_tests/CMakeLists.txt
 create mode 100755 rbs_tests/integration_tests/integration_tests.py
 create mode 100644 rbs_tests/package.xml

diff --git a/rbs_tests/CMakeLists.txt b/rbs_tests/CMakeLists.txt
new file mode 100644
index 0000000..731cf0b
--- /dev/null
+++ b/rbs_tests/CMakeLists.txt
@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.10)
+project(rbs_tests)
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(rbs_utils REQUIRED)
+  find_package(launch_testing_ament_cmake)
+  add_launch_test(integration_tests/integration_tests.py)
+endif()
+
+ament_package()
diff --git a/rbs_tests/integration_tests/integration_tests.py b/rbs_tests/integration_tests/integration_tests.py
new file mode 100755
index 0000000..0e0dc72
--- /dev/null
+++ b/rbs_tests/integration_tests/integration_tests.py
@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+# import os
+import unittest
+from unittest.mock import patch, MagicMock
+
+# import rclpy
+# from rclpy.executors import SingleThreadedExecutor
+from rbs_utils.recording_demo import recording_demo, CommandType
+
+import launch
+import launch_ros
+import launch_testing
+import launch_testing.actions
+# import launch_testing.asserts
+import pytest
+
+@pytest.mark.rostest
+def generate_test_description():
+    test_node = launch_ros.actions.Node(
+        package="rbs_bt_executor",
+        executable="rbs_interface.py",
+        output="screen"
+        # parameters = [{"bt_path": skills_cfg_file},{"mode": mode},{"use_sim_time": True}]
+    )
+
+    return launch.LaunchDescription([
+        test_node,
+        launch_testing.actions.ReadyToTest(),
+    ]), { 'test_node': test_node }
+
+class TestRecordingDemo(unittest.TestCase):
+
+    def setUp(self):
+        # Предполагается, что ROS 2 окружение запущено
+        pass
+
+    def test_run_command_returns_bool(self):
+        with patch("rbs_utils.recording_demo.RbsActionClient") as MockClient:
+            mock_client_instance = MockClient.return_value
+            mock_client_instance.res_ok = True
+            mock_client_instance.send_goal = MagicMock()
+
+            result = recording_demo(CommandType.RUN)
+            self.assertTrue(result)
+            mock_client_instance.send_goal.assert_called_with(
+                sid=unittest.mock.ANY, action="RecordingDemo", command="rdConfigure")
+
+    def test_stop_and_cancel_triggers_stop(self):
+        with patch("rbs_utils.recording_demo.RbsActionClient") as MockClient:
+            mock_client_instance = MockClient.return_value
+            mock_client_instance.res_ok = True
+            mock_client_instance.send_goal = MagicMock()
+
+            result = recording_demo(CommandType.STOP_AND_CANCEL)
+            self.assertTrue(result)
+            mock_client_instance.send_goal.assert_called_with(
+                sid=unittest.mock.ANY, action="RecordingDemo", command="rdStop")
+
+    def test_invalid_command_returns_false(self):
+        result = recording_demo("nonexistent_command")
+        self.assertFalse(result)
diff --git a/rbs_tests/package.xml b/rbs_tests/package.xml
new file mode 100644
index 0000000..1ff18b4
--- /dev/null
+++ b/rbs_tests/package.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rbs_tests</name>
+  <version>0.0.1</version>
+  <description>Integration tests for the Robossembler-ROS2</description>
+  <maintainer email="shaniks77s@gmail.com">shalenikol</maintainer>
+  <license>Apache-2.0</license>
+
+  <test_depend>launch</test_depend>
+  <test_depend>launch_ros</test_depend>
+  <test_depend>rbs_utils</test_depend>
+  <!-- <test_depend>controller_manager_msgs</test_depend> -->
+  <test_depend>launch_testing_ament_cmake</test_depend>
+
+</package>