Class MockAdapter¶
Defined in File MockAdapter.hpp
Inheritance Relationships¶
Base Type¶
public std::enable_shared_from_this< MockAdapter >
Class Documentation¶
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class
rmf_fleet_adapter::agv::test
::
MockAdapter
: public std::enable_shared_from_this<MockAdapter>¶ This class is an alternative to the Adapter class, but made specifically for testing. It does not try to connect to a Schedule Node or to any Negotiation topics. It keeps its database internal.
Public Functions
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MockAdapter
(const std::string &node_name, const rclcpp::NodeOptions &node_options = rclcpp::NodeOptions())¶ Create a mock adapter.
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std::shared_ptr<FleetUpdateHandle>
add_fleet
(const std::string &fleet_name, rmf_traffic::agv::VehicleTraits traits, rmf_traffic::agv::Graph navigation_graph, std::optional<std::string> server_uri = std::nullopt)¶ Add a fleet to test.
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std::shared_ptr<rclcpp::Node>
node
()¶ Get the rclcpp Node for this adapter.
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void
start
()¶ Start spinning this adapter.
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void
stop
()¶ Stop this adapter from spinning.
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void
dispatch_task
(std::string task_id, const nlohmann::json &request)¶ Submit a task request.
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~MockAdapter
()¶
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