sr_test_runner.cpp

Go to the documentation of this file.

#include "sr_self_test/sr_test_runner.hpp"

namespace shadow_robot
{
//const double SrTestRunner::SERVICE_TIMEOUT_CONST_ = 1.0;

  SrTestRunner::SrTestRunner() :
    self_test::TestRunner(), index_service_to_test_(0)
  {
  };

  SrTestRunner::~SrTestRunner()
  {
  };

  void SrTestRunner::addTopicTest(std::string topic_name, double frequency)
  {
  };

  void SrTestRunner::addServicesTest(std::vector<std::string> services_to_test)
  {
    services_to_test_ = services_to_test;
    index_service_to_test_=0;

    for (size_t i=0; i < services_to_test_.size(); ++i)
    {
      add("Testing "+services_to_test_[i]+" is present.", this,  &SrTestRunner::service_test_cb_);
    }
  };

  void SrTestRunner::addSensorNoiseTest()
  {
    sensor_noise_test_.reset(new SensorNoiseTest());
    add("Testing sensor noise.", sensor_noise_test_.get(), &SensorNoiseTest::test_sensor_noise);
  }

  void SrTestRunner::service_test_cb_(diagnostic_updater::DiagnosticStatusWrapper& status)
  {
    if( ros::service::exists(services_to_test_[index_service_to_test_], false) )
      status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Service "+services_to_test_[index_service_to_test_]+" exists.");
    else
      status.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "Service "+services_to_test_[index_service_to_test_]+" not available.");

    if(index_service_to_test_ + 1 < services_to_test_.size())
      index_service_to_test_ ++;
  };

  void SrTestRunner::plot(std::map<std::string, std::vector<double> > joints)
  {
    plot(joints, "");
  }

  void SrTestRunner::plot(std::map<std::string, std::vector<double> > joints, bool testing)
  {
    plot(joints, "", testing);
  }

  void SrTestRunner::plot(std::map<std::string, std::vector<double> > joints, std::string path)
  {
    plot(joints, path, false);
  }

  void SrTestRunner::plot(std::map<std::string, std::vector<double> > joints, std::string path, bool testing)
  {
    if( testing )
      gnuplot_.reset(new Gnuplot("gnuplot"));//close the window right after the test when running a test
    else
      gnuplot_.reset(new Gnuplot("gnuplot -persist"));

    //saving the plot to file if path provided
    if( path != "" )
    {
      *gnuplot_.get() << "set terminal png\n";
      *gnuplot_.get() << "set output '"+path+"'\n";
    }

    //plot legend and style
    std::string cmd = "plot ";
    std::string title = "";
    std::map<std::string, std::vector<double> >::const_iterator last_it = joints.end();
    if( !joints.empty())
      --last_it;
    for (std::map<std::string, std::vector<double> >::const_iterator it = joints.begin(); it != joints.end(); ++it)
    {
      cmd += " '-' with lines title '"+it->first+"'";
      if( it == last_it)
        cmd += "\n";
      else
        cmd += ",";

      title += it->first + " ";
    }

    *gnuplot_.get() << "set title '"+title+"'\n";
    *gnuplot_.get() << cmd;

    //plotting the data
    for (std::map<std::string, std::vector<double> >::const_iterator it = joints.begin(); it != joints.end(); ++it)
    {
      gnuplot_->send(it->second);
    }
  }

  void SrTestRunner::add_diagnostic_parser()
  {
    diagnostic_parser_.reset( new DiagnosticParser(this) );
  }

  void SrTestRunner::addManualTests()
  {
    std::string msg;

    msg = "Please press on the tactile sensors one after the other.\n Check that they react using rxplot. \n\n";
    msg += "If you have a hand equipped with biotacs (cycle [0] to change the finger tip):\n";
    msg += "   > rxplot /tactile/tactiles[0]/pac0";
    msg += "\n";
    msg += "If you have a hand equipped with PSTs (cycle [0] to change the finger tip):\n";
    msg += "   > rxplot /tactile/pressure[0]\n";
    manual_tests_.push_back( boost::shared_ptr<ManualTests>(new ManualTests(msg, 1) ) );
    add("Manual Tests: tactiles.", manual_tests_.back().get(), &ManualTests::run_manual_tests);

    msg = "Please check that the positions of the joints in the 3d model\n of the hand (using rviz) match those in the real hand.";
    manual_tests_.push_back( boost::shared_ptr<ManualTests>(new ManualTests(msg, 2) ) );
    add("Manual Tests: joint positions - rviz.", manual_tests_.back().get(), &ManualTests::run_manual_tests);
  }
} //end namespace


/* For the emacs weenies in the crowd.
   Local Variables:
   c-basic-offset: 2
   End:
*/