-
Notifications
You must be signed in to change notification settings - Fork 3
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Add an unittest environment for hardware class. (#32)
* Add write_data function * Updating to use mock * Test load_config_file successfuly * Make all public method to virtual * Remove unused heade file * Refactoring to pass cpplint check * Refactoring method name
- Loading branch information
Shota Aoki
authored
Dec 22, 2023
1 parent
f414296
commit 366b22b
Showing
5 changed files
with
134 additions
and
22 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,86 @@ | ||
| // Copyright 2023 RT Corporation | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #include <memory> | ||
|
|
||
| #include "fakeit.hpp" | ||
| #include "gtest/gtest.h" | ||
| #include "rt_manipulators_cpp/hardware.hpp" | ||
| #include "rt_manipulators_cpp/hardware_communicator.hpp" | ||
|
|
||
| using fakeit::Mock; | ||
| using fakeit::Verify; | ||
| using fakeit::When; | ||
|
|
||
| Mock<hardware_communicator::Communicator> create_comm_mock(void) { | ||
| Mock<hardware_communicator::Communicator> mock; | ||
| When(Method(mock, is_connected)).AlwaysReturn(true); | ||
| When(Method(mock, connect)).AlwaysReturn(true); | ||
| When(Method(mock, disconnect)).AlwaysReturn(); | ||
| When(Method(mock, make_sync_write_group)).AlwaysReturn(); | ||
| When(Method(mock, make_sync_read_group)).AlwaysReturn(); | ||
| When(Method(mock, append_id_to_sync_write_group)).AlwaysReturn(true); | ||
| When(Method(mock, append_id_to_sync_read_group)).AlwaysReturn(true); | ||
| When(Method(mock, send_sync_read_packet)).AlwaysReturn(true); | ||
| When(Method(mock, send_sync_write_packet)).AlwaysReturn(true); | ||
| When(Method(mock, get_sync_read_data)).AlwaysReturn(true); | ||
| When(Method(mock, set_sync_write_data)).AlwaysReturn(true); | ||
| When(Method(mock, write_byte_data)).AlwaysReturn(true); | ||
| When(Method(mock, write_word_data)).AlwaysReturn(true); | ||
| When(Method(mock, write_double_word_data)).AlwaysReturn(true); | ||
| When(Method(mock, read_byte_data)).AlwaysReturn(true); | ||
| When(Method(mock, read_word_data)).AlwaysReturn(true); | ||
| When(Method(mock, read_double_word_data)).AlwaysReturn(true); | ||
|
|
||
| return mock; | ||
| } | ||
|
|
||
| TEST(HardwareTest, load_config_file) { | ||
| // Expect the load_config_file method to be called twice and return true and false respectively. | ||
| auto mock = create_comm_mock(); | ||
|
|
||
| rt_manipulators_cpp::Hardware hardware( | ||
| std::unique_ptr<hardware_communicator::Communicator>(&mock.get())); | ||
|
|
||
| EXPECT_TRUE(hardware.load_config_file("../config/ok_has_dynamixel_name.yaml")); | ||
| EXPECT_FALSE(hardware.load_config_file("../config/ng_has_same_joints.yaml")); | ||
| } | ||
|
|
||
| TEST(HardwareTest, connect) { | ||
| // Expect the connect method to be called twice and return true and false respectively. | ||
| auto mock = create_comm_mock(); | ||
| When(Method(mock, connect)).Return(true, false); // Return true then false. | ||
|
|
||
| rt_manipulators_cpp::Hardware hardware( | ||
| std::unique_ptr<hardware_communicator::Communicator>(&mock.get())); | ||
|
|
||
| EXPECT_TRUE(hardware.connect()); | ||
| EXPECT_FALSE(hardware.connect()); | ||
| } | ||
|
|
||
| TEST(HardwareTest, disconnect) { | ||
| // Expect the disconnect method to be called once and never. | ||
| auto mock = create_comm_mock(); | ||
| When(Method(mock, is_connected)).Return(false).AlwaysReturn(true); // Return false then true. | ||
| When(Method(mock, disconnect)).AlwaysReturn(); | ||
|
|
||
| rt_manipulators_cpp::Hardware hardware( | ||
| std::unique_ptr<hardware_communicator::Communicator>(&mock.get())); | ||
|
|
||
| hardware.disconnect(); | ||
| Verify(Method(mock, disconnect)).Never(); | ||
|
|
||
| hardware.disconnect(); | ||
| Verify(Method(mock, disconnect)).Once(); | ||
| } |