Commit ca7c7561 authored by Giuseppe Carboni's avatar Giuseppe Carboni
Browse files

Minor fixes for SRTMinorServoCommandLibrary

parent 58c24354

SRT/Libraries/SRTMinorServoLibrary/src/SRTMinorServoCommandLibrary.cpp

+4 −8
Original line number Diff line number Diff line
@@ -115,15 +115,11 @@ SRTMinorServoAnswerMap SRTMinorServoCommandLibrary::parseAnswer(std::string answ 
            if(value.empty())

            {

                if(args.find("TIMESTAMP") != args.end())    // Timestamp already found, some other value is missing

                {

                    value = "0";

                }

                else

                {

                    throw std::invalid_argument(std::string("Missing key for value " + value));



                value = key;

                key = "TIMESTAMP";

            }

            }



            if(key == "OUTPUT")

            {

SRT/Libraries/SRTMinorServoLibrary/tests/unittest.cpp

+15 −14
Original line number Diff line number Diff line
@@ -28,28 +28,29 @@ TEST(SRTMinorServoCommandLibraryTest, stop) 


TEST(SRTMinorServoCommandLibraryTest, preset)

{

    EXPECT_EQ(SRTMinorServoCommandLibrary::preset("PFP", std::vector<double>{0.,1.,2.,3.,4.,5.}), "PRESET=PFP,0,1,2,3,4,5\r\n");

    EXPECT_EQ(SRTMinorServoCommandLibrary::preset("PFP", std::vector<double>{0.,1.,2.,3.,4.,5.}), "PRESET=PFP,0.000000,1.000000,2.000000,3.000000,4.000000,5.000000\r\n");

}



TEST(SRTMinorServoCommandLibraryTest, programTrack)

{

    double start_time = CIRATools::getUNIXEpoch() + 3;

    unsigned long int trajectory_id = (unsigned long int)(start_time * 1000);

    unsigned long int trajectory_id = (unsigned long int)start_time;

    std::stringstream expected_answer;

    expected_answer << "PROGRAMTRACK=PFP," << trajectory_id << ",0," << trajectory_id << ",0,1,2,3,4,5\r\n";

    expected_answer << std::fixed << std::setprecision(6);

    expected_answer << "PROGRAMTRACK=PFP," << trajectory_id << ",0," << start_time << ",0.000000,1.000000,2.000000,3.000000,4.000000,5.000000\r\n";

    EXPECT_EQ(SRTMinorServoCommandLibrary::programTrack("PFP", trajectory_id, 0, std::vector<double>{0.,1.,2.,3.,4.,5.}, start_time), expected_answer.str());



    for(unsigned int i = 1; i < 10; i++)

    {

        expected_answer.str(std::string());

        expected_answer << "PROGRAMTRACK=PFP," << trajectory_id << "," << i << ",*,0,1,2,3,4,5\r\n";

        expected_answer << "PROGRAMTRACK=PFP," << trajectory_id << "," << i << ",*,0.000000,1.000000,2.000000,3.000000,4.000000,5.000000\r\n";

        EXPECT_EQ(SRTMinorServoCommandLibrary::programTrack("PFP", trajectory_id, i, std::vector<double>{0.,1.,2.,3.,4.,5.}), expected_answer.str());

    }

}



TEST(SRTMinorServoCommandLibraryTest, offset)

{

    EXPECT_EQ(SRTMinorServoCommandLibrary::offset("PFP", std::vector<double>{0.,1.,2.,3.,4.,5.}), "OFFSET=PFP,0,1,2,3,4,5\r\n");

    EXPECT_EQ(SRTMinorServoCommandLibrary::offset("PFP", std::vector<double>{0.,1.,2.,3.,4.,5.}), "OFFSET=PFP,0.000000,1.000000,2.000000,3.000000,4.000000,5.000000\r\n");

}



TEST(SRTMinorServoCommandLibraryTest, parseAnswer)
@@ -66,15 +67,15 @@ TEST(SRTMinorServoCommandLibraryTest, parseAnswer) 
    args.clear();

    args["OUTPUT"] = "GOOD";

    args["TIMESTAMP"] = 1665743366.123456;

    args["CURRENT_CONFIG"] = 21;

    args["SIMULATION_ENABLED"] = 34;

    args["PLC_TIME"] = 78;

    args["PLC_VERSION"] = 69;

    args["CONTROL"] = 14;

    args["POWER"] = 38;

    args["EMERGENCY"] = 69;

    args["ENABLED"] = 51;

    args["OPERATIVE_MODE"] = 94;

    args["CURRENT_CONFIG"] = (long)21;

    args["SIMULATION_ENABLED"] = (long)34;

    args["PLC_TIME"] = (long)78;

    args["PLC_VERSION"] = (long)69;

    args["CONTROL"] = (long)14;

    args["POWER"] = (long)38;

    args["EMERGENCY"] = (long)69;

    args["ENABLED"] = (long)51;

    args["OPERATIVE_MODE"] = (long)94;

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



    // Missing timestamp