test

src/iiwa_controller/CMakeLists.txt

@@ -16,6 +16,11 @@ find_package(rclcpp_lifecycle REQUIRED)
 find_package(realtime_tools REQUIRED)
 find_package(std_msgs REQUIRED)
 
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_cmake_pytest REQUIRED)
+endif()
+
 # FRI SDK
 set(FRI_SDK_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/libFRI)
 
@@ -75,6 +80,28 @@ pluginlib_export_plugin_description_file(
   iiwa_hardware_interface_plugin.xml
 )
 
+if(BUILD_TESTING)
+  ament_add_gtest(
+    test_guards
+    test/test_guards.cpp
+  )
+  target_include_directories(test_guards PRIVATE
+    include
+    ${FRI_SDK_DIR}/include
+    ${FRI_SDK_DIR}/src/nanopb-0.2.8
+    ${FRI_SDK_DIR}/src/protobuf
+    ${FRI_SDK_DIR}/src/protobuf_gen
+    ${FRI_SDK_DIR}/src/base
+    ${FRI_SDK_DIR}/src/client_lbr
+    ${FRI_SDK_DIR}/src/connection
+  )
+
+  ament_add_pytest_test(
+    test_safety_contract
+    test/test_safety_contract.py
+  )
+endif()
+
 # Установка — только библиотека и заголовки, без config/launch/urdf
 install(TARGETS ${PROJECT_NAME}
   EXPORT export_${PROJECT_NAME}
@@ -87,10 +114,14 @@ install(DIRECTORY include/
   DESTINATION include
 )
 
+install(DIRECTORY external/libFRI/include/
+  DESTINATION include
+)
+
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
 ament_export_targets(export_${PROJECT_NAME})
 ament_export_dependencies(
   controller_interface hardware_interface pluginlib rclcpp rclcpp_lifecycle realtime_tools std_msgs)
 
-ament_package()
+ament_package()