From 0f37f19b40abfc744da083cb655ce51b9e52fc45 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 18 Feb 2022 22:52:59 +0300
Subject: [PATCH] Basic tests for Blocks

---
 clover/test/basic.py   | 26 ++++++++++++++++++++++++++
 clover/test/basic.test |  2 ++
 2 files changed, 28 insertions(+)

diff --git a/clover/test/basic.py b/clover/test/basic.py
index 283180ed..5d9d6c29 100755
--- a/clover/test/basic.py
+++ b/clover/test/basic.py
@@ -33,3 +33,29 @@ def test_web_video_server(node):
         # Python 3
         import urllib.request as urllib
     urllib.urlopen("http://localhost:8080").read()
+
+def test_blocks(node):
+    rospy.wait_for_service('clover_blocks/run', timeout=5)
+    rospy.wait_for_service('clover_blocks/stop', timeout=5)
+    rospy.wait_for_service('clover_blocks/load', timeout=5)
+    rospy.wait_for_service('clover_blocks/store', timeout=5)
+
+    from std_msgs.msg import String
+    from clover_blocks.srv import Run
+
+    def wait_print():
+        try:
+            wait_print.result = rospy.wait_for_message('clover_blocks/print', String, timeout=5).data
+        except Exception as e:
+            wait_print.result = str(e)
+
+    import threading
+    t = threading.Thread(target=wait_print)
+    t.start()
+    rospy.sleep(0.1)
+
+    run = rospy.ServiceProxy('clover_blocks/run', Run)
+    assert run(code='print("test")').success == True
+
+    t.join()
+    assert wait_print.result == 'test'
diff --git a/clover/test/basic.test b/clover/test/basic.test
index d27dcc8b..3aac7f10 100755
--- a/clover/test/basic.test
+++ b/clover/test/basic.test
@@ -35,6 +35,8 @@
         <rosparam param="notify">startup: { r: 255, g: 255, b: 255 }</rosparam>
     </node>
 
+    <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" required="true"/>
+
     <param name="test_module" value="$(find clover)/test/basic.py"/>
     <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>