Commit 2da5baf4 authored by Giuseppe Carboni's avatar Giuseppe Carboni
Browse files

Included rotations in sine wave tests

parent c7a31211

SRT/Servers/SRTMinorServo/test/CombinedProgramTrackTest.cpp

+2 −76
Original line number Diff line number Diff line
@@ -355,7 +355,7 @@ TEST_F(CombinedProgramTrackTest, SineWaveMovementTest) 
    std::vector<double> DerotatorCoordinates = DerotatorStartingCoordinates;



    std::vector<double> phase_shift;

    for(size_t axis = 0; axis < 3; axis++)

    for(size_t axis = 0; axis < 6; axis++)

    {

        phase_shift.push_back((double)std::rand() / RAND_MAX * 60);

        SRPCoordinates[axis] = SRP_MAX_RANGES[axis] * sin(phase_shift[axis] * 2 * M_PI / 60);
@@ -399,7 +399,7 @@ TEST_F(CombinedProgramTrackTest, SineWaveMovementTest) 
        std::this_thread::sleep_for(std::chrono::microseconds((int)round(1000000 * std::max(0.0, next_expected_time - ADVANCE_TIMEGAP - CIRATools::getUNIXEpoch()))));

        point_id++;



        for(size_t axis = 0; axis < 3; axis++)

        for(size_t axis = 0; axis < 6; axis++)

        {

            SRPCoordinates[axis] = SRP_MAX_RANGES[axis] * sin((time_delta + phase_shift[axis]) * 2 * M_PI / 60);

        }
@@ -418,78 +418,4 @@ TEST_F(CombinedProgramTrackTest, SineWaveMovementTest) 
    DerotatorProgramTrackFile.close();

    SRPStatusThread.join();

    DerotatorStatusThread.join();



    /*

    SRTMinorServoAnswerMap SRPStatus;



    ofstream programTrackFile;

    programTrackFile.open(directory + "/trajectory.txt", ios::out);



    unsigned int axis_to_move = 0;

    int sign = 1;

    unsigned int idle_count = 0;

    bool idle = false;



    std::cout << "PRESET position reached, starting PROGRAMTRACK" << std::endl;

    std::vector<double> programTrackCoordinates = startingCoordinates;



    while(!terminate)

    {

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

        long unsigned int trajectory_id = int(start_time);

        double next_expected_time = start_time;

        unsigned int point_id = 0;



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

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

        programTrackFile << CombinedProgramTrackTest::serializeCoordinates(start_time, programTrackCoordinates) << std::endl;



        std::this_thread::sleep_for(std::chrono::milliseconds(50));



        SRPStatus = socket.sendCommand(SRTMinorServoCommandLibrary::status("SRP"));

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

        EXPECT_EQ(std::get<long>(SRPStatus["SRP_OPERATIVE_MODE"]), 50);



        while(!terminate)

        {

            next_expected_time += TIMEGAP;



            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(idle)

            {

                idle_count++;

                if(idle_count == ADVANCE_TIMEGAP / TIMEGAP)

                {

                    idle_count = 0;

                    idle = false;

                    break;

                }

            }

            else

            {

                if(moveAxis(programTrackCoordinates, axis_to_move, sign))

                {

                    sign *= -1;

                    idle = true;

                }

                else if(round(programTrackCoordinates[axis_to_move] * 100) == 0 && sign == 1)

                {

                    programTrackCoordinates[axis_to_move] = 0.0;

                    axis_to_move == 5 ? axis_to_move = 0 : axis_to_move++;

                    idle = true;

                }



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

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

            }



            //std::cout << CombinedProgramTrackTest::serializeCoordinates(next_expected_time, programTrackCoordinates) << std::endl;

            programTrackFile << CombinedProgramTrackTest::serializeCoordinates(next_expected_time, programTrackCoordinates) << std::endl;

        }

    }



    programTrackFile.close();

    statusThread.join();*/

}

SRT/Servers/SRTMinorServo/test/SRPProgramTrackTest.cpp

+2 −3
Original line number Diff line number Diff line
@@ -411,7 +411,7 @@ TEST_F(SRPProgramTrackTest, SineWaveMovementTest) 
    std::vector<double> programTrackCoordinates = startingCoordinates;



    std::vector<double> phase_shift;

    for(size_t axis = 0; axis < 3; axis++)

    for(size_t axis = 0; axis < 6; axis++)

    {

        phase_shift.push_back((double)std::rand() / RAND_MAX * 60);

        programTrackCoordinates[axis] = MAX_RANGES[axis] * sin(phase_shift[axis] * 2 * M_PI / 60);
@@ -442,14 +442,13 @@ TEST_F(SRPProgramTrackTest, SineWaveMovementTest) 
        std::this_thread::sleep_for(std::chrono::microseconds((int)round(1000000 * std::max(0.0, next_expected_time - ADVANCE_TIMEGAP - CIRATools::getUNIXEpoch()))));

        point_id++;



        for(size_t axis = 0; axis < 3; axis++)

        for(size_t axis = 0; axis < 6; axis++)

        {

            programTrackCoordinates[axis] = MAX_RANGES[axis] * sin((time_delta + phase_shift[axis]) * 2 * M_PI / 60);

        }



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

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

        //std::cout << SRPProgramTrackTest::serializeCoordinates(next_expected_time, programTrackCoordinates) << std::endl;

        programTrackFile << SRPProgramTrackTest::serializeCoordinates(next_expected_time, programTrackCoordinates) << std::endl;

    }