RobotTrajectoryDesignerTestEnvironment.h

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#include <VirtualRobot/XML/RobotIO.h>
 
#include <ArmarXCore/core/application/Application.h>
#include <ArmarXCore/core/system/FactoryCollectionBase.h>
#include <ArmarXCore/core/test/IceTestHelper.h>
 
#include <RobotTrajectoryDesigner/gui-plugins/RobotTrajectoryDesignerGuiPlugin/RobotTrajectoryDesignerGuiPluginGuiPlugin.h>
 
class RobotTrajectoryDesignerTestEnvironment
{
public:
    RobotTrajectoryDesignerTestEnvironment(const std::string& testName,
                                           int registryPort = 11220,
                                           bool addObjects = true)
    {
        Ice::PropertiesPtr properties = Ice::createProperties();
        armarx::Application::LoadDefaultConfig(properties);
        const std::string project = "RobotAPI";
        armarx::CMakePackageFinder finder(project);
 
        if (!finder.packageFound())
        {
            ARMARX_ERROR << "ArmarX Package " << project << " has not been found!";
        }
        else
        {
            armarx::ArmarXDataPath::addDataPaths(finder.getDataDir());
        }
 
        std::string fn = "RobotAPI/robots/Armar3/ArmarIII.xml";
        ArmarXDataPath::getAbsolutePath(fn, fn);
        std::string robotFilename = fn;
 
        _spaceSavePath = test::getCmakeValue("PROJECT_BINARY_DIR") + "/Testing/Temporary/spaces/";
 
        if (loadSpaces)
        {
            properties->setProperty("ArmarX.RobotIK.ReachabilitySpacesFolder", _spaceSavePath);
            properties->setProperty("ArmarX.RobotIK.InitialReachabilitySpaces",
                                    "testReachabilitySpace.bin");
        }
 
        _iceTestHelper = new IceTestHelper(registryPort, registryPort + 1);
        _iceTestHelper->startEnvironment();
 
        // The manager allows you to create new ArmarX components
        _manager = new TestArmarXManager(testName, _iceTestHelper->getCommunicator(), properties);
        if (addObjects)
        {
            // This is how you create components.
            _robotTrajectoryDesigner =
                _manager->createComponentAndRun<YourComponent, YourComponentInterfacePrx>(
                    "ArmarX", "RobotTrajectoryDesigner");
        }
 
        _robotModel =
            VirtualRobot::RobotIO::loadRobot(robotFilename, VirtualRobot::RobotIO::eStructure);
    }
 
    ~RobotTrajectoryDesignerTestEnvironment()
    {
        _manager->shutdown();
    }
 
    // In your tests, you can access your component through this proxy
    RobotTrajectoryDesignerInterfacePrx _robotTrajectoryDesigner;
    TestArmarXManagerPtr _manager;
    IceTestHelperPtr _iceTestHelper;
    VirtualRobot::RobotPtr _robotModel;
};
 
using RobotTrajectoryDesignerTestEnvironmentPtr =
    std::shared_ptr<RobotTrajectoryDesignerTestEnvironment>;