mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 10:00:48 +02:00
100 lines
3.8 KiB
C++
100 lines
3.8 KiB
C++
#include "ur_modern_driver/ur/robot_mode.h"
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#include <gtest/gtest.h>
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#include "ur_modern_driver/bin_parser.h"
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#include "ur_modern_driver/log.h"
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#include "ur_modern_driver/test/random_data.h"
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#include "ur_modern_driver/test/utils.h"
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#include "ur_modern_driver/types.h"
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TEST(RobotModeData_V1_X, testRandomDataParsing)
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{
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RandomDataTest rdt(24);
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BinParser bp = rdt.getParser();
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RobotModeData_V1_X state;
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ASSERT_TRUE(state.parseWith(bp)) << "parse() returned false";
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ASSERT_EQ(rdt.getNext<uint64_t>(), state.timestamp);
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ASSERT_EQ(rdt.getNext<bool>(), state.physical_robot_connected);
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ASSERT_EQ(rdt.getNext<bool>(), state.real_robot_enabled);
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ASSERT_EQ(rdt.getNext<bool>(), state.robot_power_on);
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ASSERT_EQ(rdt.getNext<bool>(), state.emergency_stopped);
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ASSERT_EQ(rdt.getNext<bool>(), state.protective_stopped);
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ASSERT_EQ(rdt.getNext<bool>(), state.program_running);
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ASSERT_EQ(rdt.getNext<bool>(), state.program_paused);
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ASSERT_EQ(rdt.getNext<robot_mode_V1_X>(), state.robot_mode);
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ASSERT_EQ(rdt.getNext<double>(), state.speed_fraction);
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ASSERT_TRUE(bp.empty()) << "Did not consume all data";
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}
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TEST(RobotModeData_V3_0__1, testRandomDataParsing)
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{
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RandomDataTest rdt(33);
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BinParser bp = rdt.getParser();
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RobotModeData_V3_0__1 state;
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ASSERT_TRUE(state.parseWith(bp)) << "parse() returned false";
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ASSERT_EQ(rdt.getNext<uint64_t>(), state.timestamp);
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ASSERT_EQ(rdt.getNext<bool>(), state.physical_robot_connected);
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ASSERT_EQ(rdt.getNext<bool>(), state.real_robot_enabled);
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ASSERT_EQ(rdt.getNext<bool>(), state.robot_power_on);
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ASSERT_EQ(rdt.getNext<bool>(), state.emergency_stopped);
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ASSERT_EQ(rdt.getNext<bool>(), state.protective_stopped);
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ASSERT_EQ(rdt.getNext<bool>(), state.program_running);
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ASSERT_EQ(rdt.getNext<bool>(), state.program_paused);
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ASSERT_EQ(rdt.getNext<robot_mode_V3_X>(), state.robot_mode);
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ASSERT_EQ(rdt.getNext<robot_control_mode_V3_X>(), state.control_mode);
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ASSERT_EQ(rdt.getNext<double>(), state.target_speed_fraction);
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ASSERT_EQ(rdt.getNext<double>(), state.speed_scaling);
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ASSERT_TRUE(bp.empty()) << "Did not consume all data";
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}
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TEST(RobotModeData_V3_2, testRandomDataParsing)
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{
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RandomDataTest rdt(41);
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BinParser bp = rdt.getParser();
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RobotModeData_V3_2 state;
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ASSERT_TRUE(state.parseWith(bp)) << "parse() returned false";
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ASSERT_EQ(rdt.getNext<uint64_t>(), state.timestamp);
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ASSERT_EQ(rdt.getNext<bool>(), state.physical_robot_connected);
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ASSERT_EQ(rdt.getNext<bool>(), state.real_robot_enabled);
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ASSERT_EQ(rdt.getNext<bool>(), state.robot_power_on);
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ASSERT_EQ(rdt.getNext<bool>(), state.emergency_stopped);
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ASSERT_EQ(rdt.getNext<bool>(), state.protective_stopped);
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ASSERT_EQ(rdt.getNext<bool>(), state.program_running);
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ASSERT_EQ(rdt.getNext<bool>(), state.program_paused);
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ASSERT_EQ(rdt.getNext<robot_mode_V3_X>(), state.robot_mode);
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ASSERT_EQ(rdt.getNext<robot_control_mode_V3_X>(), state.control_mode);
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ASSERT_EQ(rdt.getNext<double>(), state.target_speed_fraction);
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ASSERT_EQ(rdt.getNext<double>(), state.speed_scaling);
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ASSERT_EQ(rdt.getNext<double>(), state.target_speed_fraction_limit);
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ASSERT_TRUE(bp.empty()) << "Did not consume all data";
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}
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TEST(RobotModeData_V1_X, testTooSmallBuffer)
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{
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RandomDataTest rdt(10);
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BinParser bp = rdt.getParser();
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RobotModeData_V1_X state;
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EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
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}
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TEST(RobotModeData_V3_0__1, testTooSmallBuffer)
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{
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RandomDataTest rdt(10);
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BinParser bp = rdt.getParser();
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RobotModeData_V3_0__1 state;
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EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
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}
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TEST(RobotModeData_V3_2, testTooSmallBuffer)
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{
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RandomDataTest rdt(10);
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BinParser bp = rdt.getParser();
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RobotModeData_V3_2 state;
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EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
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}
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