ros2-assignments/doc/tests/RetakeScheduler.md

RetakeScheduler Node Unit Tests

Unit tests for RetakeScheduler are implemented in src/g2_2025_grade_calculator_pkg/test/RetakeScheduler.test.cpp The unit tests are written using Google Test and ROS 2 test utilities. They utilize clients to interact with the RetakeScheduler node's services and actions, verifying correct behavior and expected outcomes.

Test Cases

1. ConstructorTest

• Purpose: Verifies that the RetakeScheduler can be constructed without throwing exceptions.
• Checks:
  • The node is created successfully and is not nullptr.

2. ActionClientCreationTest

• Purpose: Ensures that the RetakeScheduler node creates the expected action client services for the retake action.
• Checks:
  • At least one of the retake action client services (/retake_action/_action/cancel_goal, /retake_action/_action/get_result, /retake_action/_action/send_goal) is present in the node's service graph.

3. ParameterTest

• Purpose: Confirms that the node's parameters are set to their expected default values.
• Checks:
  • The retake_check_interval_sec parameter defaults to 120.

4. ActionClientAllServicesPresentTest

• Purpose: Verifies that all required action client services for the retake action are available.
• Checks:
  • The following services are present:
    • /retake_action/_action/cancel_goal
    • /retake_action/_action/get_result
    • /retake_action/_action/send_goal

5. ConstructorWithNullDatabaseManager

• Purpose: Tests the node's behavior when constructed with a nullptr database manager.
• Checks:
  • The node can be constructed without throwing, even if the database manager is nullptr.