# How to Add a Build Server Simulation Test

## Steps

1. Create a .cpp file in this directory with a class that inherits from `CozmoSimTestController`. The class name should start with `CST_`. This is just convention and not required for functionality.
2. Make sure you register the class using `REGISTER_COZMO_SIM_TEST_CLASS()`.
3. Use `CST_ASSERT()` and `CST_EXPECT()` macros to test conditions of interest. There are also helper macros such as `IF_CONDITION_WITH_TIMEOUT_ASSERT` and `IF_ALL_CONDITIONS_WITH_TIMEOUT_ASSERT` which may be useful. Use `CST_EXIT()` to properly exit your test.
4. Add the name of the test class and world file to `project/build-scripts/webots/webotsTests.cfg`. The world file should be added to `simulator/worlds/` and must contain an instance of each of the following:
    * BlockWorldComms (i.e. Cozmo engine)
    * CozmoBot (i.e. Cozmo robot)
    * BuildServerTestController (i.e. The test), which should contain the line `controllerArgs "%COZMO_SIM_TEST%"`

## Tips

1. The tests specified in `webotsTest.cfg` are run by calling `project/build-scripts/webots/webotsTest.py`. By default they run in 'minimized' mode which means there is no Webots window that actually appears. Run `webotsTest.py` with `--showGraphics` to enable the Webots window. 
2. The easiest way to debug a single test is to modify the world file to point to the name of your test class instead of `%COZMO_SIM_TEST%`. This will also cause Webots to continue running after the test completes.
3. There is some time overhead associated with each test (.cpp) file. It's basically restarting Webots and going through the whole connection routine. If it makes sense, it can shave off some seconds by combining tests to run in a single .cpp file.