From c0b1514648ee9ccf95d4a10a72a57d2b6c4e147e Mon Sep 17 00:00:00 2001
From: Dawid Kmak <73443304+KmakD@users.noreply.github.com>
Date: Mon, 10 Jun 2024 08:33:25 +0200
Subject: [PATCH] ROS 2 remove obsolate tests in BT (#333)

* remove unnecessary tests

* remove unnecessary brackets
---
 panther_manager/behavior_trees/lights.xml     |  2 +-
 .../test_call_set_bool_service_node.cpp       | 16 ---------------
 ...st_call_set_led_animation_service_node.cpp | 20 -------------------
 3 files changed, 1 insertion(+), 37 deletions(-)

diff --git a/panther_manager/behavior_trees/lights.xml b/panther_manager/behavior_trees/lights.xml
index 09bcb1a1e..a4609da72 100644
--- a/panther_manager/behavior_trees/lights.xml
+++ b/panther_manager/behavior_trees/lights.xml
@@ -49,7 +49,7 @@ current_anim_id = CHARGING_BATTERY_ANIM_ID"/>
                                     param=""
                                     repeating="true"
                                     service_name="lights/controller/set/animation"
-                                    _skipIf="(!e_stop_state) || (current_anim_id == E_STOP_ANIM_ID)"
+                                    _skipIf="(!e_stop_state) || current_anim_id == E_STOP_ANIM_ID"
                                     _onSuccess="current_anim_id = E_STOP_ANIM_ID"/>
         <Sequence name="BatteryStatusSequence">
           <TickAfterTimeout timeout="{LOW_BATTERY_ANIM_PERIOD}"
diff --git a/panther_manager/test/plugins/test_call_set_bool_service_node.cpp b/panther_manager/test/plugins/test_call_set_bool_service_node.cpp
index 9a7897550..7c5b44b68 100644
--- a/panther_manager/test/plugins/test_call_set_bool_service_node.cpp
+++ b/panther_manager/test/plugins/test_call_set_bool_service_node.cpp
@@ -135,22 +135,6 @@ TEST_F(TestCallSetBoolService, WrongSetBoolCallServiceFailure)
   EXPECT_EQ(status, BT::NodeStatus::FAILURE);
 }
 
-TEST_F(TestCallSetBoolService, WrongServiceValueDefined)
-{
-  std::map<std::string, std::string> service = {
-    {"service_name", "set_bool"}, {"data", "wrong_bool"}};
-
-  using std_srvs::srv::SetBool;
-  CreateService<SetBool>(
-    "set_bool",
-    [&](const SetBool::Request::SharedPtr request, SetBool::Response::SharedPtr response) {
-      ServiceCallback(request, response, true, true);
-    });
-  RegisterNodeWithParams<panther_manager::CallSetBoolService>("CallSetBoolService");
-
-  EXPECT_THROW({ CreateTree("CallSetBoolService", service); }, BT::LogicError);
-}
-
 int main(int argc, char ** argv)
 {
   testing::InitGoogleTest(&argc, argv);
diff --git a/panther_manager/test/plugins/test_call_set_led_animation_service_node.cpp b/panther_manager/test/plugins/test_call_set_led_animation_service_node.cpp
index 9c2b13a43..03bf01378 100644
--- a/panther_manager/test/plugins/test_call_set_led_animation_service_node.cpp
+++ b/panther_manager/test/plugins/test_call_set_led_animation_service_node.cpp
@@ -171,26 +171,6 @@ TEST_F(TestCallSetLedAnimationService, WrongSetLedAnimationCallServiceFailure)
   EXPECT_EQ(status, BT::NodeStatus::FAILURE);
 }
 
-TEST_F(TestCallSetLedAnimationService, WrongRepeatingServiceValueDefined)
-{
-  std::map<std::string, std::string> service = {
-    {"service_name", "set_led_animation"}, {"id", "0"}, {"param", ""}, {"repeating", "wrong_bool"}};
-
-  RegisterNodeWithParams<panther_manager::CallSetLedAnimationService>("CallSetLedAnimationService");
-
-  EXPECT_THROW({ CreateTree("CallSetLedAnimationService", service); }, BT::LogicError);
-}
-
-TEST_F(TestCallSetLedAnimationService, WrongIdServiceValueDefined)
-{
-  std::map<std::string, std::string> service = {
-    {"service_name", "set_led_animation"}, {"id", "-5"}, {"param", ""}, {"repeating", "true"}};
-
-  RegisterNodeWithParams<panther_manager::CallSetLedAnimationService>("CallSetLedAnimationService");
-
-  EXPECT_THROW({ CreateTree("CallSetLedAnimationService", service); }, BT::LogicError);
-}
-
 int main(int argc, char ** argv)
 {
   testing::InitGoogleTest(&argc, argv);