Obbart/universal_robots_ros_driver
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This commit is contained in:
Simon Rasmussen
2017-03-16 04:56:07 +01:00
parent e478987dc4
commit 618dd35c43
4 changed files with 9 additions and 16 deletions
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2
include/ur_modern_driver/bin_parser.h
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@@ -136,7 +136,7 @@ public:
} }
template <typename T, size_t N> template <typename T, size_t N>
void parse(std::array<T, N> &array) void parse(std::array<T, N>& array)
{ {
for (size_t i = 0; i < N; i++) for (size_t i = 0; i < N; i++)
{ {

5
include/ur_modern_driver/test/utils.h
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@@ -1,8 +1,7 @@
#pragma once #pragma once
#define ASSERT_DOUBLE_ARRAY_EQ(fn, name) \ #define ASSERT_DOUBLE_ARRAY_EQ(fn, name) \
for (auto const& v : name) \ for (auto const& v : name) \
{ \ { \
ASSERT_EQ(fn, v) << #name " failed parsing"; \ ASSERT_EQ(fn, v) << #name " failed parsing"; \
} }

12
tests/ur/robot_mode.cpp
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@@ -1,10 +1,10 @@
#include <gtest/gtest.h>
#include "ur_modern_driver/ur/robot_mode.h" #include "ur_modern_driver/ur/robot_mode.h"
#include <gtest/gtest.h>
#include "ur_modern_driver/bin_parser.h" #include "ur_modern_driver/bin_parser.h"
#include "ur_modern_driver/log.h" #include "ur_modern_driver/log.h"
#include "ur_modern_driver/types.h"
#include "ur_modern_driver/test/utils.h"
#include "ur_modern_driver/test/random_data.h" #include "ur_modern_driver/test/random_data.h"
#include "ur_modern_driver/test/utils.h"
#include "ur_modern_driver/types.h"
TEST(RobotModeData_V1_X, testRandomDataParsing) TEST(RobotModeData_V1_X, testRandomDataParsing)
{ {
@@ -27,7 +27,6 @@ TEST(RobotModeData_V1_X, testRandomDataParsing)
ASSERT_TRUE(bp.empty()) << "Did not consume all data"; ASSERT_TRUE(bp.empty()) << "Did not consume all data";
} }
TEST(RobotModeData_V3_0__1, testRandomDataParsing) TEST(RobotModeData_V3_0__1, testRandomDataParsing)
{ {
RandomDataTest rdt(33); RandomDataTest rdt(33);
@@ -51,7 +50,6 @@ TEST(RobotModeData_V3_0__1, testRandomDataParsing)
ASSERT_TRUE(bp.empty()) << "Did not consume all data"; ASSERT_TRUE(bp.empty()) << "Did not consume all data";
} }
TEST(RobotModeData_V3_2, testRandomDataParsing) TEST(RobotModeData_V3_2, testRandomDataParsing)
{ {
RandomDataTest rdt(41); RandomDataTest rdt(41);
@@ -76,8 +74,6 @@ TEST(RobotModeData_V3_2, testRandomDataParsing)
ASSERT_TRUE(bp.empty()) << "Did not consume all data"; ASSERT_TRUE(bp.empty()) << "Did not consume all data";
} }
TEST(RobotModeData_V1_X, testTooSmallBuffer) TEST(RobotModeData_V1_X, testTooSmallBuffer)
{ {
RandomDataTest rdt(10); RandomDataTest rdt(10);
@@ -86,7 +82,6 @@ TEST(RobotModeData_V1_X, testTooSmallBuffer)
EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough"; EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
} }
TEST(RobotModeData_V3_0__1, testTooSmallBuffer) TEST(RobotModeData_V3_0__1, testTooSmallBuffer)
{ {
RandomDataTest rdt(10); RandomDataTest rdt(10);
@@ -95,7 +90,6 @@ TEST(RobotModeData_V3_0__1, testTooSmallBuffer)
EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough"; EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
} }
TEST(RobotModeData_V3_2, testTooSmallBuffer) TEST(RobotModeData_V3_2, testTooSmallBuffer)
{ {
RandomDataTest rdt(10); RandomDataTest rdt(10);

6
tests/ur/rt_state.cpp
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@@ -1,10 +1,10 @@
#include <gtest/gtest.h>
#include "ur_modern_driver/ur/rt_state.h" #include "ur_modern_driver/ur/rt_state.h"
#include <gtest/gtest.h>
#include "ur_modern_driver/bin_parser.h" #include "ur_modern_driver/bin_parser.h"
#include "ur_modern_driver/log.h" #include "ur_modern_driver/log.h"
#include "ur_modern_driver/types.h"
#include "ur_modern_driver/test/utils.h"
#include "ur_modern_driver/test/random_data.h" #include "ur_modern_driver/test/random_data.h"
#include "ur_modern_driver/test/utils.h"
#include "ur_modern_driver/types.h"
TEST(RTState_V1_6__7, testRandomDataParsing) TEST(RTState_V1_6__7, testRandomDataParsing)
{ {