mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 10:00:48 +02:00
192 lines
8.4 KiB
C++
192 lines
8.4 KiB
C++
#include "ur_modern_driver/ur/rt_state.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(RTState_V1_6__7, testRandomDataParsing)
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{
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RandomDataTest rdt(764);
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BinParser bp = rdt.getParser(true);
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RTState_V1_6__7 state;
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EXPECT_TRUE(state.parseWith(bp)) << "parse() returned false";
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ASSERT_EQ(rdt.getNext<double>(), state.time);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qdd_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.m_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_actual);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_actual);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_actual);
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ASSERT_EQ(rdt.getNext<double3_t>(), state.tool_accelerometer_values);
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rdt.skip(sizeof(double) * 15);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.tcp_force);
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ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_actual);
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ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_actual);
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ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_inputs);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.motor_temperatures);
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ASSERT_EQ(rdt.getNext<double>(), state.controller_time);
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rdt.skip(sizeof(double)); // skip unused value
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ASSERT_EQ(rdt.getNext<double>(), state.robot_mode);
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EXPECT_TRUE(bp.empty()) << "Did not consume all data";
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}
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TEST(RTState_V1_8, testRandomDataParsing)
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{
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RandomDataTest rdt(812);
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BinParser bp = rdt.getParser(true);
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RTState_V1_8 state;
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EXPECT_TRUE(state.parseWith(bp)) << "parse() returned false";
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ASSERT_EQ(rdt.getNext<double>(), state.time);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qdd_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.m_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_actual);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_actual);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_actual);
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ASSERT_EQ(rdt.getNext<double3_t>(), state.tool_accelerometer_values);
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rdt.skip(sizeof(double) * 15);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.tcp_force);
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ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_actual);
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ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_actual);
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ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_inputs);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.motor_temperatures);
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ASSERT_EQ(rdt.getNext<double>(), state.controller_time);
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rdt.skip(sizeof(double)); // skip unused value
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ASSERT_EQ(rdt.getNext<double>(), state.robot_mode);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.joint_modes);
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EXPECT_TRUE(bp.empty()) << "Did not consume all data";
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}
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TEST(RTState_V3_0__1, testRandomDataParsing)
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{
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RandomDataTest rdt(1044);
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BinParser bp = rdt.getParser(true);
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RTState_V3_0__1 state;
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EXPECT_TRUE(state.parseWith(bp)) << "parse() returned false";
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ASSERT_EQ(rdt.getNext<double>(), state.time);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qdd_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.m_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_actual);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_actual);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_actual);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_control);
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ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_actual);
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ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_actual);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.tcp_force);
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ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_target);
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ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_target);
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ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_inputs);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.motor_temperatures);
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ASSERT_EQ(rdt.getNext<double>(), state.controller_time);
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rdt.skip(sizeof(double)); // skip unused value
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ASSERT_EQ(rdt.getNext<double>(), state.robot_mode);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.joint_modes);
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ASSERT_EQ(rdt.getNext<double>(), state.safety_mode);
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rdt.skip(sizeof(double) * 6);
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ASSERT_EQ(rdt.getNext<double3_t>(), state.tool_accelerometer_values);
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rdt.skip(sizeof(double) * 6);
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ASSERT_EQ(rdt.getNext<double>(), state.speed_scaling);
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ASSERT_EQ(rdt.getNext<double>(), state.linear_momentum_norm);
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rdt.skip(sizeof(double) * 2);
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ASSERT_EQ(rdt.getNext<double>(), state.v_main);
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ASSERT_EQ(rdt.getNext<double>(), state.v_robot);
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ASSERT_EQ(rdt.getNext<double>(), state.i_robot);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.v_actual);
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EXPECT_TRUE(bp.empty()) << "Did not consume all data";
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}
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TEST(RTState_V3_2__3, testRandomDataParsing)
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{
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RandomDataTest rdt(1060);
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BinParser bp = rdt.getParser(true);
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RTState_V3_2__3 state;
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EXPECT_TRUE(state.parseWith(bp)) << "parse() returned false";
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ASSERT_EQ(rdt.getNext<double>(), state.time);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qdd_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.m_target);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.q_actual);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.qd_actual);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_actual);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.i_control);
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ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_actual);
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ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_actual);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.tcp_force);
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ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tool_vector_target);
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ASSERT_EQ(rdt.getNext<cartesian_coord_t>(), state.tcp_speed_target);
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ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_inputs);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.motor_temperatures);
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ASSERT_EQ(rdt.getNext<double>(), state.controller_time);
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rdt.skip(sizeof(double)); // skip unused value
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ASSERT_EQ(rdt.getNext<double>(), state.robot_mode);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.joint_modes);
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ASSERT_EQ(rdt.getNext<double>(), state.safety_mode);
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rdt.skip(sizeof(double) * 6);
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ASSERT_EQ(rdt.getNext<double3_t>(), state.tool_accelerometer_values);
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rdt.skip(sizeof(double) * 6);
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ASSERT_EQ(rdt.getNext<double>(), state.speed_scaling);
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ASSERT_EQ(rdt.getNext<double>(), state.linear_momentum_norm);
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rdt.skip(sizeof(double) * 2);
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ASSERT_EQ(rdt.getNext<double>(), state.v_main);
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ASSERT_EQ(rdt.getNext<double>(), state.v_robot);
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ASSERT_EQ(rdt.getNext<double>(), state.i_robot);
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ASSERT_DOUBLE_ARRAY_EQ(rdt.getNext<double>(), state.v_actual);
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ASSERT_EQ(rdt.getNext<uint64_t>(), state.digital_outputs);
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ASSERT_EQ(rdt.getNext<double>(), state.program_state);
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EXPECT_TRUE(bp.empty()) << "did not consume all data";
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}
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TEST(RTState_V1_6__7, testTooSmallBuffer)
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{
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RandomDataTest rdt(10);
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BinParser bp = rdt.getParser(true);
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RTState_V1_6__7 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(RTState_V1_8, testTooSmallBuffer)
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{
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RandomDataTest rdt(10);
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BinParser bp = rdt.getParser(true);
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RTState_V1_8 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(RTState_V3_0__1, testTooSmallBuffer)
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{
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RandomDataTest rdt(10);
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BinParser bp = rdt.getParser(true);
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RTState_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(RTState_V3_2__3, testTooSmallBuffer)
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{
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RandomDataTest rdt(10);
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BinParser bp = rdt.getParser(true);
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RTState_V3_2__3 state;
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EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
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} |