Crate roslibrust_mock 

A mock implementation of roslibrust’s generic traits useful for testing ROS behaviors.

It is not recommended to depend on this crate directly, but instead access it via roslibrust with the mock feature enabled.

// Normally accessed as roslibrust::{Result, TopicProvider, Publish}
use roslibrust_common::{Result, TopicProvider, Publish};
// Normally you'd use generated types from roslibrust::codegen
use roslibrust_test::ros1::*;

async fn my_ros_thing(ros: impl TopicProvider) -> Result<()> {
    let my_publisher = ros.advertise::<std_msgs::String>("my_topic").await?;
    my_publisher.publish(&std_msgs::String { data: "Hello, world!".to_string() }).await?;
    Ok(())
}

#[tokio::test]
async fn test_my_ros_thing() {
    // Create a mock ros instance with new
    let ros = roslibrust::mock::MockRos::new();
    // Use it like ros:
    let test_sub = ros.subscribe::<std_msgs::String>("my_topic").await?;
    // Kick off our object under test
    tokio::spawn(my_ros_thing(ros));
    // Assert we got the message we expected
    assert_eq!(test_sub.next().await.unwrap().unwrap().data, "Hello, world!");
}

Structs

MockPublisher

The publisher type returned by calling MockRos::advertise.

MockRos

A mock ROS implementation that can be substituted for any roslibrust backend in unit tests.

MockServiceClient

The handle type returned by calling MockRos::service_client. Represents a ROS service connection and allows the service to be called multiple times.

MockSubscriber

The subscriber type returned by calling MockRos::subscribe.