Updated Minor Servos tests (dc368462) · Commits · INAF / DISCOS

SRT/Servers/SRTMinorServo/test/Makefile

+1 −1

Original line number	Diff line number	Diff line
		@@ -22,7 +22,7 @@ SRPProgramTrackTest_LIBS = $(GTEST_LIBS) SRTMinorServoSocketLibrary SRTMinorServ

		PFPProgramTrackTest_OBJECTS = PFPProgramTrackTest
		PFPProgramTrackTest_CFLAGS = -std=c++17 -fconcepts
		PFPProgramTrackTest_LIBS = $(GTEST_LIBS) SRTMinorServoSocketLibrary SRTMinorServoCommandLibrary IRALibrary ComponentErrors boost_filesystem
		PFPProgramTrackTest_LIBS = $(GTEST_LIBS) SRTMinorServoSocketLibrary SRTMinorServoCommandLibrary IRALibrary ComponentErrors MinorServoErrors boost_filesystem

		DerotatorProgramTrackTest_OBJECTS = DerotatorProgramTrackTest
		DerotatorProgramTrackTest_CFLAGS = -std=c++17

SRT/Servers/SRTMinorServo/test/PFPProgramTrackTest.cpp

+38 −19

Original line number	Diff line number	Diff line
		@@ -4,13 +4,15 @@
		#include <chrono>
		#include <ctime>
		#include <boost/filesystem.hpp>
		#include <MinorServoErrors.h>
		#include "SRTMinorServoUtils.h"
		#include "SRTMinorServoTestingSocket.h"
		#include "SRTMinorServoCommandLibrary.h"

		// This address and port are the ones set in the simulator
		// In order for the test to properly be executed, the simulator should be launched with the following command:
		// discos-simulator -s minor_servo start &
		#define SIMULATION
		//#define SIMULATION
		#ifdef SIMULATION
		#define ADDRESS std::string("127.0.0.1")
		#define PORT 12800
		@@ -22,8 +24,8 @@
		#define ADVANCE_TIMEGAP 2.6
		//#define MIN_RANGES std::vector<double>{ -1490, -200, -1 }
		//#define MAX_RANGES std::vector<double>{ 1490, 50, 76 }
		#define MIN_RANGES std::vector<double>{ -1000, -100, 0 }
		#define MAX_RANGES std::vector<double>{ 1000, 25, 20 }
		#define MIN_RANGES std::vector<double>{ -1000, -150, 0 }
		#define MAX_RANGES std::vector<double>{ 1000, 40, 70 }
		#define MAX_SPEED std::vector<double>{ 25, 5, 0.42 }
		#define STATUS_PERIOD 0.01

		@@ -52,9 +54,20 @@ protected:

		double tn = CIRATools::getUNIXEpoch();

		while(!terminate)
		while(!terminate.load())
		{
		try
		{
		PFPStatus = socket.sendCommand(SRTMinorServoCommandLibrary::status("PFP"));
		}
		catch(MinorServoErrors::MinorServoErrorsEx& ex)
		{
		//MinorServoErrors::MinorServoErrorsExImpl impl(ex);
		std::cout << getErrorFromEx(ex) << std::endl;
		terminate.store(true);
		break;
		}

		std::string status = serializeStatus(PFPStatus);

		statusFile << status << std::endl;
		@@ -72,7 +85,7 @@ protected:
		static void sigintHandler(int sig_num)
		{
		std::cout << std::endl << "Terminating..." << std::endl;
		terminate = true;
		terminate.store(true);
		}

		static std::string serializeStatus(SRTMinorServoAnswerMap map)
		@@ -288,7 +301,7 @@ protected:
		EXPECT_TRUE(PFPStatus.checkOutput());
		std::cout << serializeStatus(PFPStatus) << std::endl;

		if(terminate)
		if(terminate.load())
		FAIL() << "Aborting test..." << std::endl;
		}
		while(PFPStatus.get<unsigned int>("PFP_OPERATIVE_MODE") != 40);
		@@ -322,7 +335,7 @@ protected:
		void TearDown() override
		{
		SRTMinorServoTestingSocket::destroyInstance();
		terminate = false;
		terminate.store(false);
		}
		};

		@@ -355,7 +368,7 @@ TEST_F(PFPProgramTrackTest, ContinuousMovementTest)
		unsigned int idle_count = 0;
		bool idle = false;

		while(!terminate)
		while(!terminate.load())
		{
		next_expected_time += TIMEGAP;

		@@ -414,7 +427,7 @@ TEST_F(PFPProgramTrackTest, AllAxesMovementTest)
		std::vector<unsigned int> idle_count = { 0, 0, 0 };
		std::vector<bool> idle = { false, false, false };

		while(!terminate)
		while(!terminate.load())
		{
		next_expected_time += TIMEGAP;

		@@ -493,7 +506,7 @@ TEST_F(PFPProgramTrackTest, SineWaveMovementTest)

		double next_expected_time = start_time;

		while(!terminate)
		while(!terminate.load())
		{
		next_expected_time += TIMEGAP;
		double time_delta = next_expected_time - start_time;
		@@ -525,24 +538,27 @@ TEST_F(PFPProgramTrackTest, SeparateMovementTest)
		ofstream programTrackFile;
		programTrackFile.open(directory + "/trajectory.txt", ios::out);

		unsigned int axis_to_move = 0;
		unsigned int axis_to_move = 1;
		int sign = 1;
		unsigned int idle_count = 0;
		bool idle = false;

		std::cout << "PRESET position reached, starting PROGRAMTRACK" << std::endl;
		std::cout << "PRESET position reached" << std::endl;
		std::vector<double> programTrackCoordinates = startingCoordinates;

		bool immediate = false;

		while(!terminate)
		while(!terminate.load())
		{
		double start_time = CIRATools::getUNIXEpoch() + ADVANCE_TIMEGAP;
		std::cout << "starting PROGRAMTRACK with timestamp " << std::to_string(start_time) << std::endl;
		long unsigned int trajectory_id = int(start_time);
		double next_expected_time = start_time;
		unsigned int point_id = 0;

		PFPStatus = socket.sendCommand(SRTMinorServoCommandLibrary::programTrack("PFP", trajectory_id, point_id, programTrackCoordinates, start_time));
		std::string command = SRTMinorServoCommandLibrary::programTrack("PFP", trajectory_id, point_id, programTrackCoordinates, start_time);
		//std::cout << command;
		PFPStatus = socket.sendCommand(command);
		EXPECT_TRUE(PFPStatus.checkOutput());
		programTrackFile << PFPProgramTrackTest::serializeCoordinates(start_time, programTrackCoordinates) << std::endl;

		@@ -552,7 +568,7 @@ TEST_F(PFPProgramTrackTest, SeparateMovementTest)
		EXPECT_TRUE(PFPStatus.checkOutput());
		EXPECT_EQ(PFPStatus.get<unsigned int>("PFP_OPERATIVE_MODE"), 50);

		while(!terminate)
		while(!terminate.load())
		{
		next_expected_time += TIMEGAP;

		@@ -576,7 +592,10 @@ TEST_F(PFPProgramTrackTest, SeparateMovementTest)
		idle = true;
		}

		PFPStatus = socket.sendCommand(SRTMinorServoCommandLibrary::programTrack("PFP", trajectory_id, point_id, programTrackCoordinates));
		command = SRTMinorServoCommandLibrary::programTrack("PFP", trajectory_id, point_id, programTrackCoordinates);
		PFPStatus = socket.sendCommand(command);
		//std::cout << command;
		//PFPStatus = socket.sendCommand(SRTMinorServoCommandLibrary::programTrack("PFP", trajectory_id, point_id, programTrackCoordinates));
		EXPECT_TRUE(PFPStatus.checkOutput());
		}

		@@ -604,7 +623,7 @@ TEST_F(PFPProgramTrackTest, RapidTrajectoryTest)

		std::cout << "PRESET position reached, starting PROGRAMTRACK" << std::endl;

		while(!terminate)
		while(!terminate.load())
		{
		unsigned int axis_to_move = 1;
		int sign = -1;
		@@ -627,7 +646,7 @@ TEST_F(PFPProgramTrackTest, RapidTrajectoryTest)
		EXPECT_TRUE(PFPStatus.checkOutput());
		EXPECT_EQ(PFPStatus.get<unsigned int>("PFP_OPERATIVE_MODE"), 50);

		while(!terminate)
		while(!terminate.load())
		{
		next_expected_time += TIMEGAP;

SRT/Servers/SRTMinorServo/test/SRPProgramTrackTest.cpp

+3 −3

Original line number	Diff line number	Diff line
		@@ -22,7 +22,7 @@
		#define TIMEGAP 0.2
		#define ADVANCE_TIMEGAP 2.6
		#define MAX_RANGES std::vector<double>{ 40, 40, 40, 0.2, 0.2, 0.2 }
		#define MAX_RANGES std::vector<double>{ 50, 110, 50, 0.25, 0.25, 0.25 }
		#define MAX_RANGES std::vector<double>{ 50, 120, 120, 0.25, 0.25, 0.25 }
		#define MAX_SPEED std::vector<double>{ 4, 4, 4, 0.04, 0.04, 0.04 }
		#define STATUS_PERIOD 0.01

		@@ -432,7 +432,7 @@ TEST_F(SRPProgramTrackTest, SineWaveMovementTest)

		std::vector<double> phase_shift;
		std::vector<double> period;
		for(size_t axis = 0; axis < 6; axis++)
		for(size_t axis = 0; axis < 3; axis++)
		{
		double period_multiplier = axis < 3 ? 4 : 4;
		period.push_back(MAX_RANGES[axis] / MAX_SPEED[axis] * period_multiplier);
		@@ -465,7 +465,7 @@ TEST_F(SRPProgramTrackTest, SineWaveMovementTest)
		std::this_thread::sleep_for(std::chrono::microseconds((int)round(1000000 * std::max(0.0, next_expected_time - ADVANCE_TIMEGAP - CIRATools::getUNIXEpoch()))));
		point_id++;

		for(size_t axis = 0; axis < 6; axis++)
		for(size_t axis = 0; axis < 3; axis++)
		{
		programTrackCoordinates[axis] = MAX_RANGES[axis] * sin((time_delta + phase_shift[axis]) * 2 * M_PI / period[axis]);
		}