test: Add move_joint integration test

vorausrobotik · Dec 18, 2024 · e1b4f23 · e1b4f23
1 parent 75fe842
commit e1b4f23
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Showing 2 changed files with 22 additions and 0 deletions.
diff --git a/tests/helpers/opc_ua_test_server.rs b/tests/helpers/opc_ua_test_server.rs
@@ -102,6 +102,26 @@ fn add_methods(server: &mut Server, namespace: u16, assertion_tx: Sender<String>
         "impedance_control/disable".to_string(),
         assertion_tx.clone(),
     );
+    add_method_stub(
+        server,
+        NodeId::new(namespace, 100210),
+        NodeId::new(namespace, 100211),
+        Some(vec![
+            Variant::Boolean(false),
+            Variant::UInt32(0),
+            Variant::Double(0.0),
+            Variant::UInt32(0),
+            Variant::Double(0.0),
+            Variant::Boolean(false),
+            Variant::Double(0.0),
+            Variant::Int32(0),
+            Variant::UInt32(0),
+            Variant::Boolean(false),
+        ]),
+        None,
+        "move_joints".to_string(),
+        assertion_tx.clone(),
+    );
 }
 
 /// Creates an OPC UA variable that is monotonously increasing.

diff --git a/tests/test_bridge_methods.rs b/tests/test_bridge_methods.rs
@@ -6,6 +6,7 @@ use std::{
 use common::{wait_for_function_to_pass, ManagedRosBridge};
 use helpers::opc_ua_test_server::OPCUATestServer;
 use std_srvs::srv::Empty;
+use voraus_interfaces::srv::MoveJoints;
 
 pub mod common;
 pub mod helpers;
@@ -63,3 +64,4 @@ make_testcase_method!(
     Empty,
     test_disable_impedance_control
 );
+make_testcase_method!("move_joints", MoveJoints, test_move_joints);