Commit 86d6e849 authored by Giuseppe Carboni's avatar Giuseppe Carboni
Browse files

Updated SRPProgramTrackTest.cpp

parent 2273761f

SRT/Servers/SRTMinorServo/test/.gitignore

+2 −3
Original line number Diff line number Diff line 
NoiseTranslationTest*

ContinuousMovementTest*

SeparateMovementTest*
 
SRP/*

Derotator/*

SRT/Servers/SRTMinorServo/test/SRPProgramTrackTest.cpp

+5 −5
Original line number Diff line number Diff line
@@ -280,7 +280,7 @@ TEST_F(SRPProgramTrackTest, ContinuousMovementTest) 
    SRPStatus = socket.sendCommand(SRTMinorServoCommandLibrary::programTrack("SRP", trajectory_id, point_id, programTrackCoordinates, start_time));

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



    std::this_thread::sleep_for(std::chrono::milliseconds(20));

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



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

    EXPECT_EQ(std::get<std::string>(SRPStatus["OUTPUT"]), "GOOD");
@@ -366,7 +366,7 @@ TEST_F(SRPProgramTrackTest, SeparateMovementTest) 
        EXPECT_EQ(std::get<std::string>(SRPStatus["OUTPUT"]), "GOOD");

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



        std::this_thread::sleep_for(std::chrono::milliseconds(20));

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



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

        EXPECT_EQ(std::get<std::string>(SRPStatus["OUTPUT"]), "GOOD");
@@ -382,7 +382,7 @@ TEST_F(SRPProgramTrackTest, SeparateMovementTest) 
            if(idle)

            {

                idle_count++;

                if(idle_count == 25)

                if(idle_count == ADVANCE_TIMEGAP / TIMEGAP)

                {

                    idle_count = 0;

                    idle = false;
@@ -445,7 +445,7 @@ TEST_F(SRPProgramTrackTest, RapidTrajectoryTest) 
        EXPECT_EQ(std::get<std::string>(SRPStatus["OUTPUT"]), "GOOD");

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



        std::this_thread::sleep_for(std::chrono::milliseconds(20));

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



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

        EXPECT_EQ(std::get<std::string>(SRPStatus["OUTPUT"]), "GOOD");
@@ -461,7 +461,7 @@ TEST_F(SRPProgramTrackTest, RapidTrajectoryTest) 
            if(idle)

            {

                idle_count++;

                if(idle_count == 25)

                if(idle_count == ADVANCE_TIMEGAP / TIMEGAP)

                {

                    idle_count = 0;

                    idle = false;

SRT/Servers/SRTMinorServo/test/plotSRPTrajectories.py

+28 −17
Original line number Diff line number Diff line
@@ -68,53 +68,64 @@ with open(os.path.join(arguments.directory, 'trajectory.txt'), 'r') as trajector 
fig = plt.figure()

fig.canvas.manager.set_window_title('SRP Positions')

fig.suptitle('SRP Positions')



gs = fig.add_gridspec(6, 2, hspace=0)

((tx, rx), (ty, ry), (tz, rz), (ez1, ey1), (ez2, ey2), (ez3, ex1)) = gs.subplots(sharex=True, sharey='col')

((tx, ex1), (ty, ey1), (tz, ey2), (rx, ez1), (ry, ez2), (rz, ez3)) = gs.subplots(sharex=True)



tx.plot(status_time, status_tx, 'r')

tx.plot(trajectory_time, trajectory_tx, 'b')

tx.set_ylabel('tx (mm)')

tx.sharey(ty)



ty.plot(status_time, status_ty, 'r')

ty.plot(trajectory_time, trajectory_ty, 'b')

ty.set_ylabel('ty (mm)')

ty.sharey(tz)



tz.plot(status_time, status_tz, 'r')

tz.plot(trajectory_time, trajectory_tz, 'b')

tz.set_ylabel('tz (mm)')



ez1.plot(status_time, status_ez1, 'b')

ez1.set_ylabel('ez1 (mm)')



ez2.plot(status_time, status_ez2, 'b')

ez2.set_ylabel('ez2 (mm)')



ez3.plot(status_time, status_ez3, 'b')

ez3.set_ylabel('ez3 (mm)')

ez3.set_xlabel('time (s)')



tz.sharey(ex1)



rx.plot(status_time, status_rx, 'r')

rx.plot(trajectory_time, trajectory_rx, 'b')

rx.set_ylabel('rx (deg)')

rx.sharey(ry)



ry.plot(status_time, status_ry, 'r')

ry.plot(trajectory_time, trajectory_ry, 'b')

ry.set_ylabel('ry (deg)')

ry.sharey(rz)



rz.plot(status_time, status_rz, 'r')

rz.plot(trajectory_time, trajectory_rz, 'b')

rz.set_ylabel('rz (deg)')

rz.set_xlabel('time (s)')



ey1.plot(status_time, status_ey1, 'b')



ex1.plot(status_time, status_ex1, 'g')

ex1.set_ylabel('ex1 (mm)')

ex1.sharey(ey1)



ey1.plot(status_time, status_ey1, 'g')

ey1.set_ylabel('ey1 (mm)')

ey1.sharey(ey2)



ey2.plot(status_time, status_ey2, 'b')

ey2.plot(status_time, status_ey2, 'g')

ey2.set_ylabel('ey2 (mm)')

ey2.sharey(ez1)



ex1.plot(status_time, status_ex1, 'b')

ex1.set_ylabel('ex1 (mm)')

ex1.set_xlabel('time (s)')

ez1.plot(status_time, status_ez1, 'g')

ez1.set_ylabel('ez1 (mm)')

ez1.sharey(ez2)



ez2.plot(status_time, status_ez2, 'g')

ez2.set_ylabel('ez2 (mm)')

ez2.sharey(ez3)



ez3.plot(status_time, status_ez3, 'g')

ez3.set_ylabel('ez3 (mm)')

ez3.set_xlabel('time (s)')



plt.get_current_fig_manager().window.attributes('-zoomed', True)

try: