mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 10:00:48 +02:00
117 lines
4.4 KiB
C++
117 lines
4.4 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/robot_mode.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(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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