features: write a feature for the integration tests page

features/10 - Testing and Debugging/01 - Syskit Integration.feature

@@ -0,0 +1,82 @@
+@disable-bundler
+@no-clobber
+Feature: 14. Integration Tests
+    Background:
+        Given I cd to "dev/bundles/syskit_basics"
+
+    Scenario: 01.1 Installing Cucumber support
+        Given I modify the file "manifest.xml" with:
+        """
+            <depend package="control/orogen/robot_frames" />
+        +   <depend_optional name="bundles/cucumber" />
+        """
+        And within the workspace, I run the following script:
+        """
+        aup --checkout-only
+        """
+        Then within the workspace, I successfully run the following script:
+        """
+        cucumber --init
+        """
+
+    Scenario: 01.2 Setting up a Syskit app to use integration tests
+        Given the file "features/support/env.rb" with:
+        """
+        require 'cucumber/rock_world'
+        Cucumber::RockWorld.setup
+        World(
+            Roby::App::Cucumber::World,
+            RockGazebo::Syskit::Cucumber::World,
+            Cucumber::RockWorld)
+        """
+        And within the workspace, I successfully run the following script:
+        """
+        syskit gen action cucumber
+        """
+        And I overwrite the file "models/actions/cucumber.rb" with:
+        """
+        require 'cucumber/models/actions/cucumber'
+        require 'syskit_basics/models/profiles/gazebo/base'
+
+        module SyskitBasics
+            module Actions
+                class Cucumber < Cucumber::Actions::Cucumber
+                    def cucumber_robot_model
+                        # NOTE the device must be the root model, i.e. cannot use ur10_dev
+                        Profiles::Gazebo::Base.ur10_fixed_dev
+                    end
+                end
+            end
+        end
+        """
+        And within the workspace, I successfully run the following script:
+        """
+        syskit gen robot cucumber
+        """
+        And I modify the file "config/robots/cucumber.rb" with:
+        """
+        +require_relative './gazebo'
+        -Robot.requires do
+        ...
+        -end
+        +Robot.requires do
+        +   require 'syskit_basics/models/actions/cucumber'
+        +end
+        -Robot.actions do
+        ...
+        -end
+        +Robot.actions do
+        +   use_library SyskitBasics::Actions::Cucumber
+        +end
+        """
+        And the file "features/Test Setup.feature" with:
+        """
+        Feature: Checking the Syskit/Cucumber Test Setup
+            Scenario: Starting a simulation and a Syskit app under Cucumber
+                Given the cucumber robot starting at origin in the empty world
+                Then the pose reaches z=0m with a tolerance of 0.1m within 30s
+        """
+        Then within the workspace, I successfully run the following script:
+        """
+        cucumber "features/Test Setup.feature"
+        """