Commit ade9e053 authored by Giuseppe Carboni's avatar Giuseppe Carboni
Browse files

Updated the SRTMinorServoCommandLibrary

parent 24de1dda

SRT/Libraries/SRTMinorServoLibrary/include/SRTMinorServoCommandLibrary.h

+3 −1
Original line number Diff line number Diff line
@@ -14,6 +14,8 @@ 


#define CLOSER std::string("\r\n")



using SRTMinorServoAnswerMap = std::map<std::string, std::variant<int, double, std::string> >;



/**

 * SRT Minor Servo Command Library

 *
@@ -83,7 +85,7 @@ public: 
     * @param answer the string containing the answer received from the VBrain proxy

     * @return a std::map (dictionary) containing the answer splitted into keys and values. The keys are always std::string, the values can either be int, double or std::string.

     */

    static std::map<std::string, std::variant<int, double, std::string> > parseAnswer(std::string answer);

    static SRTMinorServoAnswerMap parseAnswer(std::string answer);

};



#endif

SRT/Libraries/SRTMinorServoLibrary/src/PySRTMinorServoCommandLibrary.cpp

+1 −1
Original line number Diff line number Diff line
@@ -31,7 +31,7 @@ boost::python::dict PySRTMinorServoCommandLibrary::parseAnswer(std::string answe 


    boost::python::dict dictionary;



    typename std::map<std::string, std::variant<int, double, std::string> >::iterator iter;

    SRTMinorServoAnswerMap::iterator iter;



    for(iter = args.begin(); iter != args.end(); ++iter)

    {

SRT/Libraries/SRTMinorServoLibrary/src/SRTMinorServoCommandLibrary.cpp

+5 −3
Original line number Diff line number Diff line
@@ -87,14 +87,16 @@ std::string SRTMinorServoCommandLibrary::offset(std::string servo_id, std::vecto 
    return command.str();

}



std::map<std::string, std::variant<int, double, std::string> > SRTMinorServoCommandLibrary::parseAnswer(std::string answer)

SRTMinorServoAnswerMap SRTMinorServoCommandLibrary::parseAnswer(std::string answer)

{

    // First thing first, standardize the separators

    // First thing first, standardize the separators and remove the newline/carriage return characters

    std::replace(answer.begin(), answer.end(), ':', '=');

    std::replace(answer.begin(), answer.end(), '|', ',');

    answer.erase(std::remove(answer.begin(), answer.end(), '\n'), answer.end());

    answer.erase(std::remove(answer.begin(), answer.end(), '\r'), answer.end());



    // Create the dictionary

    std::map<std::string, std::variant<int, double, std::string> > args;

    SRTMinorServoAnswerMap args;



    std::stringstream ss(answer);

    std::string token;

SRT/Libraries/SRTMinorServoLibrary/tests/unittest.cpp

+7 −7
Original line number Diff line number Diff line
@@ -55,14 +55,14 @@ TEST(SRTMinorServoCommandLibraryTest, offset) 
TEST(SRTMinorServoCommandLibraryTest, parseAnswer)

{

    // Minimal correct answer

    std::string answer = "OUTPUT:GOOD,1665743366.654321";

    std::map<std::string, std::variant<int, double, std::string> > args;

    std::string answer = "OUTPUT:GOOD,1665743366.654321\r\n";

    SRTMinorServoAnswerMap args;

    args["OUTPUT"] = "GOOD";

    args["TIMESTAMP"] = 1665743366.654321;

    EXPECT_EQ(SRTMinorServoCommandLibrary::parseAnswer(answer), args);



    // Complete correct answer

    answer = "OUTPUT:GOOD,1665743366.123456,CURRENT_CONFIG=21|SIMULATION_ENABLED=34|PLC_TIME=78|PLC_VERSION=69|CONTROL=14|POWER=38|EMERGENCY=69|ENABLED=51|OPERATIVE_MODE=94";

    answer = "OUTPUT:GOOD,1665743366.123456,CURRENT_CONFIG=21|SIMULATION_ENABLED=34|PLC_TIME=78|PLC_VERSION=69|CONTROL=14|POWER=38|EMERGENCY=69|ENABLED=51|OPERATIVE_MODE=94\r\n";

    args.clear();

    args["OUTPUT"] = "GOOD";

    args["TIMESTAMP"] = 1665743366.123456;
@@ -78,22 +78,22 @@ TEST(SRTMinorServoCommandLibraryTest, parseAnswer) 
    EXPECT_EQ(SRTMinorServoCommandLibrary::parseAnswer(answer), args);



    // Missing timestamp

    answer = "OUTPUT:GOOD,CURRENT_CONFIG=21|SIMULATION_ENABLED=34|PLC_TIME=78|PLC_VERSION=69|CONTROL=14|POWER=38|EMERGENCY=69|ENABLED=51|OPERATIVE_MODE=94";

    answer = "OUTPUT:GOOD,CURRENT_CONFIG=21|SIMULATION_ENABLED=34|PLC_TIME=78|PLC_VERSION=69|CONTROL=14|POWER=38|EMERGENCY=69|ENABLED=51|OPERATIVE_MODE=94\r\n";

    args.clear();

    EXPECT_EQ(SRTMinorServoCommandLibrary::parseAnswer(answer), args);



    // Wrong OUTPUT field

    answer = "OUTPUT:123456";

    answer = "OUTPUT:123456\r\n";

    args.clear();

    EXPECT_EQ(SRTMinorServoCommandLibrary::parseAnswer(answer), args);



    // Multiple values without key, cannot find the correct timestamp

    answer = "OUTPUT:GOOD,12345,67890";

    answer = "OUTPUT:GOOD,12345,67890\r\n";

    args.clear();

    EXPECT_EQ(SRTMinorServoCommandLibrary::parseAnswer(answer), args);



    // Wrong timestamp format

    answer = "OUTPUT:GOOD,12345.ABCD";

    answer = "OUTPUT:GOOD,12345.ABCD\r\n";

    args.clear();

    EXPECT_EQ(SRTMinorServoCommandLibrary::parseAnswer(answer), args);

}