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Added tests

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This commit is contained in:
Simon Rasmussen
2017-03-07 02:50:46 +01:00
parent 7828304e37
commit aa26bb5996
7 changed files with 383 additions and 10 deletions
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192
tests/ur/rt_state.cpp Normal file
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#include <gtest/gtest.h>
#include "ur_modern_driver/ur/rt_state.h"
#include "ur_modern_driver/bin_parser.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"
TEST(RTState_V1_6__7, testRandomDataParsing)
{
RandomDataTest rdt(764);
BinParser bp = rdt.getParser(true);
RTState_V1_6__7 state;
EXPECT_TRUE(state.parseWith(bp)) << "parse() returned false";
ASSERT_EQ(rdt.getNext<double>(), state.time);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qdd_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.m_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_actual);
ASSERT_EQ(rdt.getNext<double3_t>(), state.tool_accelerometer_values);
rdt.skip(sizeof(double) * 15);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.tcp_force);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_actual);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_actual);
ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_inputs);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.motor_temperatures);
ASSERT_EQ(rdt.getNext<double>(), state.controller_time);
rdt.skip(sizeof(double)); // skip unused value
ASSERT_EQ(rdt.getNext<double>(), state.robot_mode);
EXPECT_TRUE(bp.empty()) << "Did not consume all data";
}
TEST(RTState_V1_8, testRandomDataParsing)
{
RandomDataTest rdt(812);
BinParser bp = rdt.getParser(true);
RTState_V1_8 state;
EXPECT_TRUE(state.parseWith(bp)) << "parse() returned false";
ASSERT_EQ(rdt.getNext<double>(), state.time);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qdd_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.m_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_actual);
ASSERT_EQ(rdt.getNext<double3_t>(), state.tool_accelerometer_values);
rdt.skip(sizeof(double) * 15);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.tcp_force);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_actual);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_actual);
ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_inputs);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.motor_temperatures);
ASSERT_EQ(rdt.getNext<double>(), state.controller_time);
rdt.skip(sizeof(double)); // skip unused value
ASSERT_EQ(rdt.getNext<double>(), state.robot_mode);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.joint_modes);
EXPECT_TRUE(bp.empty()) << "Did not consume all data";
}
TEST(RTState_V3_0__1, testRandomDataParsing)
{
RandomDataTest rdt(1044);
BinParser bp = rdt.getParser(true);
RTState_V3_0__1 state;
EXPECT_TRUE(state.parseWith(bp)) << "parse() returned false";
ASSERT_EQ(rdt.getNext<double>(), state.time);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qdd_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.m_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_control);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_actual);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.tcp_force);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_target);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_target);
ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_inputs);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.motor_temperatures);
ASSERT_EQ(rdt.getNext<double>(), state.controller_time);
rdt.skip(sizeof(double)); // skip unused value
ASSERT_EQ(rdt.getNext<double>(), state.robot_mode);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.joint_modes);
ASSERT_EQ(rdt.getNext<double>(), state.safety_mode);
rdt.skip(sizeof(double) * 6);
ASSERT_EQ(rdt.getNext<double3_t>(), state.tool_accelerometer_values);
rdt.skip(sizeof(double) * 6);
ASSERT_EQ(rdt.getNext<double>(), state.speed_scaling);
ASSERT_EQ(rdt.getNext<double>(), state.linear_momentum_norm);
rdt.skip(sizeof(double) * 2);
ASSERT_EQ(rdt.getNext<double>(), state.v_main);
ASSERT_EQ(rdt.getNext<double>(), state.v_robot);
ASSERT_EQ(rdt.getNext<double>(), state.i_robot);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.v_actual);
EXPECT_TRUE(bp.empty()) << "Did not consume all data";
}
TEST(RTState_V3_2__3, testRandomDataParsing)
{
RandomDataTest rdt(1060);
BinParser bp = rdt.getParser(true);
RTState_V3_2__3 state;
EXPECT_TRUE(state.parseWith(bp)) << "parse() returned false";
ASSERT_EQ(rdt.getNext<double>(), state.time);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qdd_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.m_target);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_control);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_actual);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_actual);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.tcp_force);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_target);
ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_target);
ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_inputs);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.motor_temperatures);
ASSERT_EQ(rdt.getNext<double>(), state.controller_time);
rdt.skip(sizeof(double)); // skip unused value
ASSERT_EQ(rdt.getNext<double>(), state.robot_mode);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.joint_modes);
ASSERT_EQ(rdt.getNext<double>(), state.safety_mode);
rdt.skip(sizeof(double) * 6);
ASSERT_EQ(rdt.getNext<double3_t>(), state.tool_accelerometer_values);
rdt.skip(sizeof(double) * 6);
ASSERT_EQ(rdt.getNext<double>(), state.speed_scaling);
ASSERT_EQ(rdt.getNext<double>(), state.linear_momentum_norm);
rdt.skip(sizeof(double) * 2);
ASSERT_EQ(rdt.getNext<double>(), state.v_main);
ASSERT_EQ(rdt.getNext<double>(), state.v_robot);
ASSERT_EQ(rdt.getNext<double>(), state.i_robot);
ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.v_actual);
ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_outputs);
ASSERT_EQ(rdt.getNext<double>(), state.program_state);
EXPECT_TRUE(bp.empty()) << "did not consume all data";
}
TEST(RTState_V1_6__7, testTooSmallBuffer)
{
RandomDataTest rdt(10);
BinParser bp = rdt.getParser(true);
RTState_V1_6__7 state;
EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
}
TEST(RTState_V1_8, testTooSmallBuffer)
{
RandomDataTest rdt(10);
BinParser bp = rdt.getParser(true);
RTState_V1_8 state;
EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
}
TEST(RTState_V3_0__1, testTooSmallBuffer)
{
RandomDataTest rdt(10);
BinParser bp = rdt.getParser(true);
RTState_V3_0__1 state;
EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
}
TEST(RTState_V3_2__3, testTooSmallBuffer)
{
RandomDataTest rdt(10);
BinParser bp = rdt.getParser(true);
RTState_V3_2__3 state;
EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
}