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0223cd2b85
Adding base classes for UPM sensors and actuators. Signed-off-by: Noel Eck <noel.eck@intel.com>
105 lines
2.9 KiB
C++
105 lines
2.9 KiB
C++
#include "gtest/gtest.h"
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#include "iUpmObject.hpp"
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#include "iServoActuator.hpp"
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#include "external/json/json.hpp"
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#include <vector>
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#include <cstdlib>
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/* Use the string literal operator from nlohmann */
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using namespace nlohmann;
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/* Mock ServoTest class */
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class ES08A : public virtual upm::iServoActuator
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{
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public:
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std::map<std::string, float> sinks;
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ES08A()
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{
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sinks["axis0"] = 0.0;
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sinks["axis1"] = 0.0;
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/* Add a second command for testing */
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AddCommand("axis1", "degrees");
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}
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void AngleForCommands(std::map<std::string, float> commands)
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{
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for(std::map<std::string, float>::const_iterator it = commands.begin(); it != commands.end(); ++it)
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{
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#ifndef NDEBUG
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std::cout << "Received set angle command for: " << it->first << " value: " << it->second << std::endl;
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#endif
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std::map<std::string, float>::iterator sit = sinks.find(it->first);
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if (sit == sinks.end())
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throw std::invalid_argument("Servo axis: " + it->first + " not found");
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sit->second = it->second;
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}
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}
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};
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/* Interfaces test fixture */
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class iServoActuator_unit : public ::testing::Test
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{
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protected:
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iServoActuator_unit() {}
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virtual ~iServoActuator_unit() {}
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virtual void SetUp()
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{
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/* Initialize from servo.json */
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sref.initFromJsonLibDesc("../../../src/servo/servo.json");
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}
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virtual void TearDown() {}
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ES08A sref;
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};
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TEST_F(iServoActuator_unit, test_iServoActuator_basic)
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{
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ASSERT_EQ(2, sref.Commands().size());
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}
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TEST_F(iServoActuator_unit, test_iServoActuator_serialize_command)
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{
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upm::ActuatorCommand<float> acmd;
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acmd.command = "axis0";
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acmd.unit = "degrees";
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acmd.value = 30.0;
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json jcmd = acmd;
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ASSERT_EQ("{\"command\":\"axis0\",\"unit\":\"degrees\",\"value\":30.0}", jcmd.dump());
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}
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TEST_F(iServoActuator_unit, test_iServoActuator_deserialize_command)
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{
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json jcmd = "{\"command\":\"axis0\",\"unit\":\"degrees\",\"value\":30.0}"_json;
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upm::ActuatorCommand<float> acmd = jcmd;
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}
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TEST_F(iServoActuator_unit, test_iServoActuator_run_command)
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{
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sref.AngleFromJson("{\"command\":\"axis0\",\"unit\":\"radians\",\"value\":3.14159}");
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ASSERT_FLOAT_EQ(3.14159, sref.sinks["axis0"]);
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}
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TEST_F(iServoActuator_unit, test_iServoActuator_run_command_invalid_command)
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{
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ASSERT_THROW(sref.AngleFromJson("{\"command\":\"axis_doesn't_exist\",\"unit\":\"radians\",\"value\":3.14159}"),
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std::invalid_argument);
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}
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TEST_F(iServoActuator_unit, test_iServoActuator_run_command_fail_deserialization)
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{
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ASSERT_THROW(sref.AngleFromJson("This is not }{ a valid JSON string"),
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std::invalid_argument);
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}
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TEST_F(iServoActuator_unit, test_iServoActuator_run_commands)
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{
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sref.AngleFromJson("[{\"command\":\"axis0\",\"unit\":\"degrees\",\"value\":30.0},{\"command\":\"axis1\",\"unit\":\"radians\",\"value\":3.1}]");
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}
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