Unit and Integration Testing in SMACC2

[NithishkumarS]

I have been exploring the SMACC2 framework and am looking for some guidance on the best practices for testing, specifically regarding unit testing and functional testing. I have a few questions:

Unit Testing:

1.How should unit tests be structured in SMACC2, especially when there are dependencies on orthogonals, clients, or other components?
2. Are there any recommended approaches or tools for mocking these dependencies to isolate the unit under test?

Integration Testing:

1. What is the recommended way to conduct functional tests that involve multiple orthogonals, clients, and their interactions?
2. How can transitions between states be tested effectively in a functional test? Are there specific frameworks or tools that are particularly useful for this purpose in the context of SMACC2?

Any examples, documentation, or tips you can provide would be greatly appreciated. Thank you for your support.

Environment (please complete the following information):

ROS DETAILS

• OS: Ubuntu 22.04 LTS
• Version Humble

[NithishkumarS]

Are there any recommendations for testing in SMACC2?

[RobotBramhana]

@NithishkumarS I don't think that's possible, Ideally, we have to create a library for unit tests in SMACC function from which which can then the called by the applications developed on top of it. From the code that I went through, I think it is not possible as of now. One possibility is that, the open source community will have to add those changes. Else, you will have to depend on the dev tools and manual testing. That's how we did it when we worked with SMACC1 4 years ago.