Fix #684, fixed tests for the SRTMinorServoCommandLibrary and its python wrapper (#685)

# C programs (public and local)

# -----------------------------

EXECUTABLES     =

EXECUTABLES_L   = TestSRTMinorServoCommandLibrary

EXECUTABLES_L   =

TestSRTMinorServoCommandLibrary_OBJECTS   = TestSRTMinorServoCommandLibrary

TestSRTMinorServoCommandLibrary_CFLAGS    = -std=c++0x

TestSRTMinorServoCommandLibrary_LIBS      = SRTMinorServoCommandLibrary IRALibrary

xxxxx_OBJECTS   =

xxxxx_CFLAGS    =

xxxxx_LIBS      =

#

# <brief description of xxxxx program>

#include <iostream>

#include <IRA>

#include "SRTMinorServoCommandLibrary.h"

using namespace IRA;

int main(void)

{

    // Skipping std::endl since the protocol adds a \n already

    std::cout << SRTMinorServoCommandLibrary::status();

    std::cout << SRTMinorServoCommandLibrary::status("SRP");

    std::cout << SRTMinorServoCommandLibrary::setup("CCB");

    std::cout << SRTMinorServoCommandLibrary::stow("PFP");

    std::cout << SRTMinorServoCommandLibrary::stow("PFP", 1);

    std::cout << SRTMinorServoCommandLibrary::stop("PFP");

    std::cout << SRTMinorServoCommandLibrary::preset("PFP", std::vector<double>{0.,1.,2.,3.,4.,5.});

    double start_time = CIRATools::getUNIXEpoch() + 3;

    long unsigned int trajectory_id = (long unsigned int)(start_time * 1000);

    std::cout << SRTMinorServoCommandLibrary::programTrack("PFP", trajectory_id, 0, std::vector<double>{0.,1.,2.,3.,4.,5.}, start_time);

    for(unsigned int i = 1; i < 10; i++)

    {

        std::cout << SRTMinorServoCommandLibrary::programTrack("PFP", trajectory_id, i, std::vector<double>{0.,1.,2.,3.,4.,5.});

    }

    std::cout << SRTMinorServoCommandLibrary::offset("PFP", std::vector<double>{0.,1.,2.,3.,4.,5.});

}

This file is here to differentiate between ACS style test directory and discos-style test. 

This is a discos test directory

DO NOT REMOVE THIS FILE

# CPP UNIT TESTING SETUP

#--------------

GTEST_HOME=/usr/local/include/gtest

GMOCK_HOME=/usr/local/include/gmock

GTEST_LIBS=gtest gtest_main

USER_INC=-I$(GTEST_HOME) -I$(GMOCK_HOME)

# END OF CPP UNIT TESTING SETUP

#---------------------

# DEFINE YOUR CPP UNIT TEST EXECUTABLES HERE as:

#

# EXECTUABLES_L = unittest

# unittest_OBJECTS = unittest

# unittest_LIBS = $(GTEST_LIBS) <ComponentNameImpl>

EXECUTABLES_L = unittest

unittest_OBJECTS = unittest

unittest_CFLAGS = -std=c++0x

unittest_LIBS = $(GTEST_LIBS) SRTMinorServoCommandLibrary IRALibrary

unittest_LDFLAGS = -lstdc++ -lpthread

# END OF CUSTOMIZATION

# do not edit below this line

#----------------------------

CSOURCENAMES = \

	$(foreach exe, $(EXECUTABLES) $(EXECUTABLES_L), $($(exe)_OBJECTS)) \

	$(foreach rtos, $(RTAI_MODULES) , $($(rtos)_OBJECTS)) \

	$(foreach lib, $(LIBRARIES) $(LIBRARIES_L), $($(lib)_OBJECTS))

MAKEDIRTMP := $(shell searchFile include/acsMakefile)

ifneq ($(MAKEDIRTMP),\#error\#)

   MAKEDIR := $(MAKEDIRTMP)/include

   include $(MAKEDIR)/acsMakefile

endif

# TEST TARGETS

#TODO: unittest(2) discover pyunit

do_unit: all

	@echo "running cpp unit tests"

	../bin/unittest --gtest_output=xml:results/cppunittest.xml

do_pyunit:

	@echo "running python unit tests"

	python -m unittest pyunit

do_functional:

	@echo "running python functional tests"

	python -m unittest functional

do_external:

	@echo "running python external tests"

	python -m unittest external

clean_test:

	rm -f results/*.xml

	rm -f functional/*.pyc

	rm -f pyunit/*.pyc

	rm -f external/*.pyc

unit: do_unit

	@echo " . . . 'unit' done"

pyunit: do_pyunit

	@echo " . . . 'pyunit' done"

functional: do_functional

	@echo " . . . 'functional' done"

external: do_external

	@echo " . . . 'external' done"

# TARGETS

# -------

all:	do_all

	@echo " . . . 'all' done" 

clean : clean_all clean_test

	@echo " . . . clean done"

clean_dist : clean_all clean_dist_all clean_test

	@echo " . . . clean_dist done"

man   : do_man 

	@echo " . . . man page(s) done"

install : install_all

	@echo " . . . installation done"