Commit 207d1f48 authored by Giuseppe Carboni's avatar Giuseppe Carboni
Browse files

Updated SRPProgramTrackTest

parent 4bfce059

SRT/Servers/SRTMinorServo/test/SRPProgramTrackTest.cpp

+17 −2
Original line number Diff line number Diff line
@@ -145,6 +145,7 @@ protected: 
    void TearDown() override

    {

        SRTMinorServoSocket::destroyInstance();

        terminate = false;

    }

};
@@ -374,8 +375,10 @@ TEST_F(SRPProgramTrackTest, cycle_movement) 
    programTrackFile << serializeProgramTrack(start_time, programTrackCoordinates) << std::endl;



    double next_expected_time = start_time;

    unsigned int axis_to_move = 3;

    unsigned int axis_to_move = 0;

    int sign = 1;

    unsigned int idle_count = 0;

    bool idle = false;



    while(!terminate)

    {
@@ -386,8 +389,20 @@ TEST_F(SRPProgramTrackTest, cycle_movement) 
            std::this_thread::sleep_for(std::chrono::microseconds((int)round(1000000 * std::max(0.0, next_expected_time - ADVANCE_TIMEGAP - CIRATools::getUNIXEpoch()))));

            point_id++;



            if(moveAxis(programTrackCoordinates, axis_to_move, sign))

            if(idle)

            {

                idle_count++;

                if(idle_count == 5)

                {

                    idle_count = 0;

                    idle = false;

                }

            }

            else if(moveAxis(programTrackCoordinates, axis_to_move, sign))

            {

                sign = sign * -1;

                idle = true;

            }



            SRPStatus = socket.sendCommand(SRTMinorServoCommandLibrary::programTrack("SRP", trajectory_id, point_id, programTrackCoordinates));

            EXPECT_EQ(std::get<std::string>(SRPStatus["OUTPUT"]), "GOOD");