Commit d35b8848 authored by Marco Bartolini's avatar Marco Bartolini
Browse files

added first unit tests to MedicinaMinorServo

parent d7551823

Common/Misc/getTemplateForTest/templates/test/Makefile

+2 −2
Original line number Diff line number Diff line
@@ -16,8 +16,8 @@ USER_LIBS=C++ pthread 
# unittest_LIBS = $(GTEST_LIBS) <ComponentNameImpl>



EXECUTABLES_L = unittest

unittest_OBJECTS = unittest

unittest_LIBS = $(GTEST_LIBS) 

unittest_OBJECTS = unittest #MedMinorServoGeometry MedMinorServoTime PositionQueue

unittest_LIBS = $(GTEST_LIBS) MinorServoBossImpl IRALibrary boost_thread 



# END OF CUSTOMIZATION

# do not edit below this line

Common/Misc/getTemplateForTest/templates/test/unittest.cpp

+76 −2
Original line number Diff line number Diff line 
#include "gtest/gtest.h"

#include <IRA>

#include <DateTime.h>



TEST(FakeTest, Success){

    EXPECT_EQ(1, 1);

#include "MedMinorServoProtocol.hpp"

#include "MedMinorServoGeometry.hpp"

#include "PositionQueue.hpp"

#include "MedMinorServoTime.hpp"

#include "testutils.hpp"



TEST(Position, creation){

    MedMinorServoPosition position(10,10,10,10,10,MED_MINOR_SERVO_PRIMARY, 10);

    ASSERT_EQ(position.x, 10);

    ASSERT_EQ(position.y, 10);

    ASSERT_EQ(position.z, 10);

    ASSERT_EQ(position.theta_x, 10);

    ASSERT_EQ(position.theta_y, 10);

    ASSERT_EQ(position.mode, MED_MINOR_SERVO_PRIMARY);

    ASSERT_EQ(position.time, 10);

}



TEST(Position, copy)

{

    MedMinorServoPosition position(10,10,10,10,10,MED_MINOR_SERVO_PRIMARY, 10);

    MedMinorServoPosition position2 = position;

    ASSERT_EQ(position, position2);

    MedMinorServoPosition position3(position2);

    ASSERT_EQ(position, position3);

}



TEST(Position, sum)

{

    MedMinorServoPosition position(10,10,10,10,10,MED_MINOR_SERVO_PRIMARY, 10);

    MedMinorServoPosition position2(1,1,1,1,1,MED_MINOR_SERVO_OFFSET, 10);

    MedMinorServoPosition position3 = position + position2;

    ASSERT_EQ(position3.x, 11);

    ASSERT_EQ(position3.y, 11);

    ASSERT_EQ(position3.z, 11);

    ASSERT_EQ(position3.theta_x, 11);

    ASSERT_EQ(position3.theta_y, 11);

    ASSERT_EQ(position3.mode, MED_MINOR_SERVO_PRIMARY);

}



TEST(Position, difference)

{

    MedMinorServoPosition position(10,10,10,10,10,MED_MINOR_SERVO_PRIMARY, 10);

    MedMinorServoPosition position2(1,1,1,1,1,MED_MINOR_SERVO_OFFSET, 10);

    MedMinorServoPosition position3 = position - position2;

    ASSERT_EQ(position3.x, 9);

    ASSERT_EQ(position3.y, 9);

    ASSERT_EQ(position3.z, 9);

    ASSERT_EQ(position3.theta_x, 9);

    ASSERT_EQ(position3.theta_y, 9);

    ASSERT_EQ(position3.mode, MED_MINOR_SERVO_PRIMARY);

}



TEST(Position, scale)

{

    MedMinorServoPosition position(10,10,10,10,10,MED_MINOR_SERVO_PRIMARY, 10);

    double scale = 3;

    MedMinorServoPosition position2= position * scale;

    ASSERT_EQ(position2.x, 30);

    ASSERT_EQ(position2.y, 30);

    ASSERT_EQ(position2.z, 30);

    ASSERT_EQ(position2.theta_x, 30);

    ASSERT_EQ(position2.theta_y, 30);

    ASSERT_EQ(position2.mode, MED_MINOR_SERVO_PRIMARY);

}



TEST(Position, interpolation)

{

    MedMinorServoPosition position1(10,10,10,10,10,MED_MINOR_SERVO_PRIMARY, 10);

    MedMinorServoPosition position2(20,20,20,20,20,MED_MINOR_SERVO_PRIMARY, 20);

    MedMinorServoPosition position3 = MedMinorServoGeometry::interpolate(position1, 

                                                                         position2,

                                                                         14);

    MedMinorServoPosition position4(14,14,14,14,14,MED_MINOR_SERVO_PRIMARY, 14);

    ASSERT_EQ(position3, position4);

}

Medicina/Servers/MedicinaMinorServo/src/Makefile

+8 −8
Original line number Diff line number Diff line
@@ -20,7 +20,7 @@ MedMinorServoControl_OBJECTS = MedMinorServoControl MedMinorServoGeometry \ 


MedMinorServoControl_LIBS   = baci acsnc IRALibrary ModbusChannel ManagmentDefinitionsStubs \

                              ManagementErrors \

                              ComponentErrors modbus boost_thread

                              ComponentErrors boost_thread



MinorServoBossImpl_OBJECTS = MedMinorServoControl MedMinorServoGeometry \

                             MedMinorServoStatus MedMinorServoParameters \
@@ -36,26 +36,26 @@ MinorServoBossImpl_LIBS = MedMinorServoBossStubs MinorServoBossStubs \ 
                          IRALibrary ModbusChannel ComponentErrors MinorServoErrors \

                          acsnc ParserErrors AntennaDefinitionsStubs \

                          MountStubs AntennaBossStubs AntennaErrors \

                          ActiveSurfaceBossStubs boost_thread acstime modbus \

                          ActiveSurfaceBossStubs boost_thread acstime \

                          baci



EXECUTABLES_L     = testclient testgeometry testprimary testsecondary testpassive real_to_virtual

real_to_virtual_OBJECTS = real_to_virtual testutils MedMinorServoGeometry MedMinorServoTime

real_to_virtual_LIBS = IRALibrary

testclient_OBJECTS = testclient testutils MedMinorServoModbus MedMinorServoGeometry MedMinorServoTime MedMinorServoControl PositionQueue

testclient_LIBS = IRALibrary boost_thread modbus ModbusChannel

testclient_LIBS = IRALibrary boost_thread ModbusChannel

testprimary_OBJECTS = testprimary testutils MedMinorServoModbus MedMinorServoGeometry MedMinorServoTime MedMinorServoControl PositionQueue

testprimary_LIBS = IRALibrary boost_thread modbus ModbusChannel

testprimary_LIBS = IRALibrary boost_thread ModbusChannel

testsecondary_OBJECTS = testsecondary testutils MedMinorServoModbus MedMinorServoGeometry MedMinorServoTime MedMinorServoControl PositionQueue

testsecondary_LIBS = IRALibrary boost_thread modbus ModbusChannel

testsecondary_LIBS = IRALibrary boost_thread ModbusChannel

testpassive_OBJECTS = testpassive testutils MedMinorServoModbus MedMinorServoGeometry MedMinorServoTime MedMinorServoControl PositionQueue

testpassive_LIBS = IRALibrary boost_thread modbus ModbusChannel

testpassive_LIBS = IRALibrary boost_thread ModbusChannel

testgeometry_OBJECTS = testgeometry testutils MedMinorServoGeometry MedMinorServoTime PositionQueue

testgeometry_LIBS = IRALibrary boost_unit_test_framework boost_thread modbus 

testgeometry_LIBS = IRALibrary boost_unit_test_framework boost_thread 



EXECUTABLES = scudisconnect

scudisconnect_OBJECTS = scudisconnect MedMinorServoModbus MedMinorServoGeometry MedMinorServoTime MedMinorServoControl PositionQueue

scudisconnect_LIBS = IRALibrary modbus ModbusChannel boost_thread

scudisconnect_LIBS = IRALibrary ModbusChannel boost_thread



#

# Configuration Database Files