mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 01:50:46 +02:00
155 lines
6.6 KiB
C++
155 lines
6.6 KiB
C++
/*
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* Copyright 2017, 2018 Simon Rasmussen (refactor)
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "ur_rtde_driver/ur/master_board.h"
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#include <gtest/gtest.h>
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#include "ur_rtde_driver/bin_parser.h"
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#include "ur_rtde_driver/log.h"
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#include "ur_rtde_driver/test/random_data.h"
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#include "ur_rtde_driver/test/utils.h"
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#include "ur_rtde_driver/types.h"
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using namespace ur_driver;
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TEST(MasterBoardData_V1_X, testRandomDataParsing)
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{
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RandomDataTest rdt(71);
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rdt.set<uint8_t>(1, 58); // sets euromap67_interface_installed to true
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BinParser bp = rdt.getParser();
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MasterBoardData_V1_X state;
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ASSERT_TRUE(state.parseWith(bp)) << "parse() returned false";
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ASSERT_EQ((rdt.getNext<uint16_t, 10>()), state.digital_input_bits);
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ASSERT_EQ((rdt.getNext<uint16_t, 10>()), state.digital_output_bits);
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ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_input_range0);
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ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_input_range1);
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ASSERT_EQ(rdt.getNext<double>(), state.analog_input0);
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ASSERT_EQ(rdt.getNext<double>(), state.analog_input1);
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ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_output_domain0);
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ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_output_domain1);
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ASSERT_EQ(rdt.getNext<double>(), state.analog_output0);
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ASSERT_EQ(rdt.getNext<double>(), state.analog_output1);
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ASSERT_EQ(rdt.getNext<float>(), state.master_board_temperature);
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ASSERT_EQ(rdt.getNext<float>(), state.robot_voltage_48V);
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ASSERT_EQ(rdt.getNext<float>(), state.robot_current);
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ASSERT_EQ(rdt.getNext<float>(), state.master_IO_current);
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ASSERT_EQ(rdt.getNext<uint8_t>(), state.master_safety_state);
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ASSERT_EQ(rdt.getNext<bool>(), state.master_on_off_state);
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ASSERT_EQ(rdt.getNext<bool>(), state.euromap67_interface_installed);
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ASSERT_EQ(rdt.getNext<int32_t>(), state.euromap_input_bits);
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ASSERT_EQ(rdt.getNext<int32_t>(), state.euromap_output_bits);
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ASSERT_EQ(rdt.getNext<int16_t>(), state.euromap_voltage);
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ASSERT_EQ(rdt.getNext<int16_t>(), state.euromap_current);
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ASSERT_TRUE(bp.empty()) << "Did not consume all data";
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}
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TEST(MasterBoardData_V3_0__1, testRandomDataParsing)
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{
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RandomDataTest rdt(83);
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rdt.set<uint8_t>(1, 62); // sets euromap67_interface_installed to true
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BinParser bp = rdt.getParser();
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MasterBoardData_V3_0__1 state;
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ASSERT_TRUE(state.parseWith(bp)) << "parse() returned false";
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ASSERT_EQ((rdt.getNext<uint32_t, 18>()), state.digital_input_bits);
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ASSERT_EQ((rdt.getNext<uint32_t, 18>()), state.digital_output_bits);
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ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_input_range0);
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ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_input_range1);
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ASSERT_EQ(rdt.getNext<double>(), state.analog_input0);
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ASSERT_EQ(rdt.getNext<double>(), state.analog_input1);
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ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_output_domain0);
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ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_output_domain1);
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ASSERT_EQ(rdt.getNext<double>(), state.analog_output0);
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ASSERT_EQ(rdt.getNext<double>(), state.analog_output1);
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ASSERT_EQ(rdt.getNext<float>(), state.master_board_temperature);
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ASSERT_EQ(rdt.getNext<float>(), state.robot_voltage_48V);
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ASSERT_EQ(rdt.getNext<float>(), state.robot_current);
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ASSERT_EQ(rdt.getNext<float>(), state.master_IO_current);
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ASSERT_EQ(rdt.getNext<uint8_t>(), state.safety_mode);
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ASSERT_EQ(rdt.getNext<bool>(), state.in_reduced_mode);
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ASSERT_EQ(rdt.getNext<bool>(), state.euromap67_interface_installed);
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ASSERT_EQ(rdt.getNext<int32_t>(), state.euromap_input_bits);
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ASSERT_EQ(rdt.getNext<int32_t>(), state.euromap_output_bits);
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ASSERT_EQ(rdt.getNext<float>(), state.euromap_voltage);
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ASSERT_EQ(rdt.getNext<float>(), state.euromap_current);
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rdt.skip(sizeof(uint32_t));
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ASSERT_TRUE(bp.empty()) << "Did not consume all data";
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}
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TEST(MasterBoardData_V3_2, testRandomDataParsing)
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{
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RandomDataTest rdt(85);
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rdt.set<uint8_t>(1, 62); // sets euromap67_interface_installed to true
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BinParser bp = rdt.getParser();
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MasterBoardData_V3_2 state;
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ASSERT_TRUE(state.parseWith(bp)) << "parse() returned false";
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ASSERT_EQ((rdt.getNext<uint32_t, 18>()), state.digital_input_bits);
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ASSERT_EQ((rdt.getNext<uint32_t, 18>()), state.digital_output_bits);
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ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_input_range0);
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ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_input_range1);
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ASSERT_EQ(rdt.getNext<double>(), state.analog_input0);
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ASSERT_EQ(rdt.getNext<double>(), state.analog_input1);
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ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_output_domain0);
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ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_output_domain1);
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ASSERT_EQ(rdt.getNext<double>(), state.analog_output0);
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ASSERT_EQ(rdt.getNext<double>(), state.analog_output1);
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ASSERT_EQ(rdt.getNext<float>(), state.master_board_temperature);
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ASSERT_EQ(rdt.getNext<float>(), state.robot_voltage_48V);
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ASSERT_EQ(rdt.getNext<float>(), state.robot_current);
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ASSERT_EQ(rdt.getNext<float>(), state.master_IO_current);
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ASSERT_EQ(rdt.getNext<uint8_t>(), state.safety_mode);
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ASSERT_EQ(rdt.getNext<bool>(), state.in_reduced_mode);
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ASSERT_EQ(rdt.getNext<bool>(), state.euromap67_interface_installed);
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ASSERT_EQ(rdt.getNext<int32_t>(), state.euromap_input_bits);
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ASSERT_EQ(rdt.getNext<int32_t>(), state.euromap_output_bits);
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ASSERT_EQ(rdt.getNext<float>(), state.euromap_voltage);
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ASSERT_EQ(rdt.getNext<float>(), state.euromap_current);
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rdt.skip(sizeof(uint32_t));
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ASSERT_EQ(rdt.getNext<uint8_t>(), state.operational_mode_selector_input);
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ASSERT_EQ(rdt.getNext<uint8_t>(), state.three_position_enabling_device_input);
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ASSERT_TRUE(bp.empty()) << "Did not consume all data";
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}
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TEST(MasterBoardData_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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MasterBoardData_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(MasterBoardData_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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MasterBoardData_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(MasterBoardData_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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MasterBoardData_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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