Commit e2365184 authored by Giuseppe Carboni's avatar Giuseppe Carboni
Browse files

Added tests for PFP

parent 28fab705

SRT/Servers/SRTMinorServo/test/Makefile

+5 −1
Original line number Original line Diff line number Diff line
@@ -14,12 +14,16 @@ USER_INC=-I$(GTEST_HOME) -I$(GMOCK_HOME) 
# unittest_OBJECTS = unittest

# unittest_OBJECTS = unittest

# unittest_LIBS = $(GTEST_LIBS) <ComponentNameImpl>

# unittest_LIBS = $(GTEST_LIBS) <ComponentNameImpl>





EXECUTABLES_L = SRPProgramTrackTest #DerotatorProgramTrackTest CombinedProgramTrackTest ReadStatusOnlyTest

EXECUTABLES_L = SRPProgramTrackTest PFPProgramTrackTest #DerotatorProgramTrackTest CombinedProgramTrackTest ReadStatusOnlyTest





SRPProgramTrackTest_OBJECTS = SRPProgramTrackTest

SRPProgramTrackTest_OBJECTS = SRPProgramTrackTest

SRPProgramTrackTest_CFLAGS = -std=c++17 -fconcepts

SRPProgramTrackTest_CFLAGS = -std=c++17 -fconcepts

SRPProgramTrackTest_LIBS = $(GTEST_LIBS) SRTMinorServoSocketLibrary SRTMinorServoCommandLibrary IRALibrary ComponentErrors boost_filesystem

SRPProgramTrackTest_LIBS = $(GTEST_LIBS) SRTMinorServoSocketLibrary SRTMinorServoCommandLibrary IRALibrary ComponentErrors boost_filesystem





PFPProgramTrackTest_OBJECTS = PFPProgramTrackTest

PFPProgramTrackTest_CFLAGS = -std=c++17 -fconcepts

PFPProgramTrackTest_LIBS = $(GTEST_LIBS) SRTMinorServoSocketLibrary SRTMinorServoCommandLibrary IRALibrary ComponentErrors boost_filesystem



DerotatorProgramTrackTest_OBJECTS = DerotatorProgramTrackTest

DerotatorProgramTrackTest_OBJECTS = DerotatorProgramTrackTest

DerotatorProgramTrackTest_CFLAGS = -std=c++17

DerotatorProgramTrackTest_CFLAGS = -std=c++17

DerotatorProgramTrackTest_LIBS = $(GTEST_LIBS) SRTMinorServoSocketLibrary SRTMinorServoCommandLibrary IRALibrary ComponentErrors boost_filesystem

DerotatorProgramTrackTest_LIBS = $(GTEST_LIBS) SRTMinorServoSocketLibrary SRTMinorServoCommandLibrary IRALibrary ComponentErrors boost_filesystem

SRT/Servers/SRTMinorServo/test/PFPProgramTrackTest.cpp

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+633 −0

File added.

Preview size limit exceeded, changes collapsed.

SRT/Servers/SRTMinorServo/test/TESTS/.gitignore

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Original line number Original line Diff line number Diff line 
PFP/

SRP/

DEROTATOR/

SRT/Servers/SRTMinorServo/test/TESTS/plotPFPTrajectory.py

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#!/usr/bin/env python

import os

import numpy as np

import matplotlib.pyplot as plt

from argparse import ArgumentParser



parser = ArgumentParser()

parser.add_argument(

    'directory',

    help="Directory containing the 'status.txt' and 'trajectory.txt' files"

)



arguments = parser.parse_args()



status_time = []

status_tx = []

status_tz = []

status_rt = []

starttime = None



with open(os.path.join(arguments.directory, 'status.txt'), 'r') as statusfile:

    for line in statusfile:

        args = line.strip().split()

        if not starttime:

            starttime = float(args[0])

        status_time.append(float(args[0]) - starttime)

        status_tx.append(float(args[1]))

        status_tz.append(float(args[2]))

        status_rt.append(float(args[3]))



trajectory_time = []

trajectory_tx = []

trajectory_tz = []

trajectory_rt = []



with open(os.path.join(arguments.directory, 'trajectory.txt'), 'r') as trajectoryfile:

    for line in trajectoryfile:

        args = line.strip().split()

        trajectory_time.append(float(args[0]) - starttime)

        trajectory_tx.append(float(args[1]))

        trajectory_tz.append(float(args[2]))

        trajectory_rt.append(float(args[3]))



fig, axs = plt.subplots(3, sharex=True)

fig.canvas.manager.set_window_title('PFP Positions')

fig.suptitle('PFP Positions')



axs[0].plot(status_time, status_tx, 'r')

axs[0].plot(trajectory_time, trajectory_tx, 'b')

axs[0].set_ylabel('tx (mm)')



axs[1].plot(status_time, status_tz, 'r')

axs[1].plot(trajectory_time, trajectory_tz, 'b')

axs[1].set_ylabel('tz (mm)')



axs[2].plot(status_time, status_rt, 'r')

axs[2].plot(trajectory_time, trajectory_rt, 'b')

axs[2].set_ylabel('rt (deg)')

axs[2].set_xlabel('time (s)')



plt.get_current_fig_manager().window.attributes('-zoomed', True)

try:

    plt.show()

except KeyboardInterrupt:

    pass