Updated SRPProgramTrackTest (a3ea22fa) · Commits · INAF / DISCOS

SRT/Servers/SRTMinorServo/test/.gitignore

+2 −1

Original line number	Diff line number	Diff line
		CycleMovementTest*
		NoiseTranslationTest*
		ContinuousMovementTest*
		SeparateMovementTest*

SRT/Servers/SRTMinorServo/test/SRPProgramTrackTest.cpp

+101 −23

Original line number	Diff line number	Diff line
		@@ -29,6 +29,8 @@ class SRPProgramTrackTest : public ::testing::Test
		{
		protected:
		std::vector<double> startingCoordinates = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
		std::string directory;
		std::thread statusThread;

		static void printStatus(std::string filename)
		{
		@@ -227,6 +229,23 @@ protected:
		}

		std::cout << "OK." << std::endl;

		std::time_t tn = std::time(0);
		std::tm* now = std::localtime(&tn);
		std::stringstream directory_ss;
		directory_ss << ::testing::UnitTest::GetInstance()->current_test_info()->name();
		directory_ss << "-";
		directory_ss << 1900 + now->tm_year;
		directory_ss << std::setfill('0') << std::setw(2) << now->tm_mon + 1;
		directory_ss << std::setfill('0') << std::setw(2) << now->tm_mday;
		directory_ss << "-";
		directory_ss << std::setfill('0') << std::setw(2) << now->tm_hour;
		directory_ss << std::setfill('0') << std::setw(2) << now->tm_min;
		directory_ss << std::setfill('0') << std::setw(2) << now->tm_sec;
		directory = directory_ss.str();
		boost::filesystem::create_directory(directory);

		statusThread = std::thread(&SRPProgramTrackTest::printStatus, directory + "/status.txt");
		}

		void TearDown() override
		@@ -236,17 +255,8 @@ protected:
		}
		};

		TEST_F(SRPProgramTrackTest, noise_translation)
		TEST_F(SRPProgramTrackTest, NoiseTranslationTest)
		{
		std::time_t tn = std::time(0);
		std::tm* now = std::localtime(&tn);
		std::stringstream directory_ss;
		directory_ss << "NoiseTranslationTest-" << 1900 + now->tm_year << std::setfill('0') << std::setw(2) << now->tm_mon + 1 << now->tm_mday << "-" << now->tm_hour << now->tm_min << now->tm_sec;
		std::string directory = directory_ss.str();
		boost::filesystem::create_directory(directory);

		std::thread t(&SRPProgramTrackTest::printStatus, directory + "/status.txt");

		double start_time = CIRATools::getUNIXEpoch() + ADVANCE_TIMEGAP;
		std::cout << "PRESET position reached, starting PROGRAMTRACK with start time: " << start_time << std::endl;
		long unsigned int trajectory_id = int(start_time);
		@@ -284,20 +294,11 @@ TEST_F(SRPProgramTrackTest, noise_translation)
		}

		programTrackFile.close();
		t.join();
		statusThread.join();
		}

		TEST_F(SRPProgramTrackTest, cycle_movement)
		TEST_F(SRPProgramTrackTest, ContinuousMovementTest)
		{
		std::time_t tn = std::time(0);
		std::tm* now = std::localtime(&tn);
		std::stringstream directory_ss;
		directory_ss << "CycleMovementTest-" << 1900 + now->tm_year << std::setfill('0') << std::setw(2) << now->tm_mon + 1 << now->tm_mday << "-" << now->tm_hour << now->tm_min << now->tm_sec;
		std::string directory = directory_ss.str();
		boost::filesystem::create_directory(directory);

		std::thread t(&SRPProgramTrackTest::printStatus, directory + "/status.txt");

		double start_time = CIRATools::getUNIXEpoch() + ADVANCE_TIMEGAP;
		std::cout << "PRESET position reached, starting PROGRAMTRACK with start time: " << start_time << std::endl;
		long unsigned int trajectory_id = int(start_time);
		@@ -345,7 +346,7 @@ TEST_F(SRPProgramTrackTest, cycle_movement)
		}
		else if(moveAxis(programTrackCoordinates, axis_to_move, sign))
		{
		sign = sign * -1;
		sign *= -1;
		idle = true;
		}

		@@ -365,5 +366,82 @@ TEST_F(SRPProgramTrackTest, cycle_movement)
		}

		programTrackFile.close();
		t.join();
		statusThread.join();
		}

		TEST_F(SRPProgramTrackTest, SeparateMovementTest)
		{
		SRTMinorServoSocket& socket = SRTMinorServoSocket::getInstance();
		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 << SRPProgramTrackTest::serializeProgramTrack(start_time, programTrackCoordinates) << std::endl;

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

		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 == 25)
		{
		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 << SRPProgramTrackTest::serializeProgramTrack(next_expected_time, programTrackCoordinates) << std::endl;
		programTrackFile << SRPProgramTrackTest::serializeProgramTrack(next_expected_time, programTrackCoordinates) << std::endl;
		}
		}

		programTrackFile.close();
		statusThread.join();
		}