@spec expect_feedback(String.t(), module()) :: struct()

Assert that the mocked action produced a new feedback message.

expect_feedback "/navigate", Navigate

@spec expect_feedback(String.t(), module(), (struct() -> boolean())) :: struct()

Assert that the mocked action produced feedback matching predicate.

expect_feedback "/navigate", Navigate, fn fb -> fb.progress == 100 end

@spec expect_goal(String.t(), module()) :: struct()

Assert that the mocked action server received a new goal.

expect_goal "/navigate", Navigate

@spec expect_goal(String.t(), module(), (struct() -> boolean())) :: struct()

Assert that the mocked action server received a goal matching predicate.

expect_goal "/navigate", Navigate, fn goal -> goal.x == 10 end

@spec expect_result(String.t(), module()) :: struct()

Assert that the mocked action produced a result.

expect_result "/navigate", Navigate

@spec expect_result(String.t(), module(), (struct() -> boolean())) :: struct()

Assert that the mocked action produced a result matching predicate.

expect_result "/navigate", Navigate, fn result -> result.success end

@spec mock_action(String.t(), module(), (struct(), function() -> struct())) :: :ok

Register a test action server implementation on the scenario node.

Goals, feedback, and results are all recorded in the collector. The handler receives (goal, publish_feedback) and must return a result struct. Cleanup is automatic when the scenario ends.

mock_action "/navigate", Navigate, fn goal, publish_feedback ->
  publish_feedback.(%Navigate.Feedback{progress: 50})
  publish_feedback.(%Navigate.Feedback{progress: 100})
  %Navigate.Result{success: true}
end

@spec refute_goal(String.t(), module(), keyword()) :: :ok

Assert that no new goal is submitted to the mocked action server.

refute_goal "/navigate", Navigate

@spec refute_goal(String.t(), module(), (struct() -> boolean()), keyword()) :: :ok

Assert that no goal matching predicate is submitted.

refute_goal "/navigate", Navigate, fn goal -> goal.x < 0 end

@spec send_goal(String.t(), module(), struct(), keyword()) :: binary()

Send a goal to an action server and return the goal UUID.

Starts an action client on the scenario node on first use.

goal_uuid = send_goal "/navigate", Navigate, %Navigate.Goal{x: 10, y: 20}