Implement tests for #130. #132
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Imaniac230
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* checking correct handling of any non-PROCESSING mobility command status * checking handling of valid command transitions - from in-progress to finished * checking robot states after velocity movement commands
Co-authored-by: mhidalgo-bdai <[email protected]>
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Hi, I am creating a followup to #130 with added tests for the status handling and state changes. I wanted to test as many cases as possible, so I hope it's not too bloated.
The tests check the following new scenarios (these checks should be passing with the recent changes and would not be passing before the changes):
STATUS_PROCESSING, whether thelast_sit_command/last_stand_commandis correctly reset and theis_sitting/is_standingstate remains unmodified.is_sittingandis_standingstates are reflecting the change.The tests also check the already existing behavior when handling a valid sit/stand feedback status (
STATUS_IN_PROGRESS,STATUS_IS_STANDING,STATUS_IS_SITTING).