roundtrip test passing

Author: abe-winter

src/viam/sdk/tests/mocks/mock_navigation.cpp

@@ -15,6 +15,8 @@ namespace navigation {
 
 using namespace viam::sdk;
 
+MockNav::MockNav(std::string name) : Navigation(name) {}
+
 Navigation::Mode MockNav::get_mode(const ProtoStruct& extra) {
     return mode;
 }

src/viam/sdk/tests/mocks/mock_navigation.hpp

@@ -15,6 +15,7 @@ using namespace sdk;
 
 class MockNav : public sdk::Navigation {
    public:
+    MockNav(std::string);
     Mode get_mode(const ProtoStruct& extra) override;
     void set_mode(const Mode mode, const ProtoStruct& extra) override;
     LocationResponse get_location(const ProtoStruct& extra) override;

src/viam/sdk/tests/test_navigation.cpp

@@ -4,6 +4,9 @@
 
 #include <viam/sdk/services/navigation.hpp>
 #include <viam/sdk/tests/mocks/mock_navigation.hpp>
+#include <viam/sdk/tests/test_utils.hpp>
+
+BOOST_TEST_DONT_PRINT_LOG_VALUE(viam::sdk::Navigation::Mode)
 
 namespace viam {
 namespace sdktests {
@@ -12,21 +15,24 @@ namespace navigation {
 using namespace viam::sdk;
 
 BOOST_AUTO_TEST_CASE(nav_mode) {
-    // test get_mode and set_mode
+    auto mock = std::make_shared<MockNav>("mock_nav");
+    client_to_mock_pipeline<Navigation>(mock, [&](Navigation& client) {
+        client.set_mode(Navigation::Mode::k_manual);
+        BOOST_CHECK_EQUAL(client.get_mode(), Navigation::Mode::k_manual);
+        client.set_mode(Navigation::Mode::k_explore);
+        BOOST_CHECK_EQUAL(client.get_mode(), Navigation::Mode::k_explore);
+    });
 }
 
-BOOST_AUTO_TEST_CASE(nav_get_location) {
-}
+BOOST_AUTO_TEST_CASE(nav_get_location) {}
 
 BOOST_AUTO_TEST_CASE(nav_waypoints) {
     // get, add, remove
 }
 
-BOOST_AUTO_TEST_CASE(nav_obstacles) {
-}
+BOOST_AUTO_TEST_CASE(nav_obstacles) {}
 
-BOOST_AUTO_TEST_CASE(nav_paths) {
-}
+BOOST_AUTO_TEST_CASE(nav_paths) {}
 
 }  // namespace navigation
 }  // namespace sdktests