GripperPositionStateMachine_Test.cpp File Reference

#include <gtest/gtest.h>
#include <boost/shared_ptr.hpp>
#include <boost/make_shared.hpp>
#include "robodyn_mechanisms/GripperPositionStateMachine.h"

Include dependency graph for GripperPositionStateMachine_Test.cpp:

Go to the source code of this file.

Classes
class	GripperPositionStateMachineTest
Functions
float	getFloat (const std::string &name)
uint16_t	getUInt16 (const std::string &name)
int	main (int argc, char **argv)
void	sendCommand (const r2_msgs::JointCommand &msg)
void	setFloat (const std::string &name, float value)
void	setUInt16 (const std::string &name, uint16_t value)
	TEST_F (GripperPositionStateMachineTest, InitialStates)
	TEST_F (GripperPositionStateMachineTest, Loaded)
	TEST_F (GripperPositionStateMachineTest, Locked)
	TEST_F (GripperPositionStateMachineTest, LockedStatus)
	TEST_F (GripperPositionStateMachineTest, Ready)
	TEST_F (GripperPositionStateMachineTest, DesiredJawPosition)
	TEST_F (GripperPositionStateMachineTest, Stalled)
	TEST_F (GripperPositionStateMachineTest, Faulted)
	TEST_F (GripperPositionStateMachineTest, Moving)
	TEST_F (GripperPositionStateMachineTest, Open)
	TEST_F (GripperPositionStateMachineTest, Force)
	TEST_F (GripperPositionStateMachineTest, SetParameters)
	TEST_F (GripperPositionStateMachineTest, Command)
	TEST_F (GripperPositionStateMachineTest, Movement)
	TEST_F (GripperPositionStateMachineTest, ActionSet)
	TEST_F (GripperPositionStateMachineTest, ActionLock)
	TEST_F (GripperPositionStateMachineTest, ActionRelease)
	TEST_F (GripperPositionStateMachineTest, ActionInterrupt)
	TEST_F (GripperPositionStateMachineTest, ActionOpenWideFailure)
	TEST_F (GripperPositionStateMachineTest, ActionJawPositionCheckFailure)
	TEST_F (GripperPositionStateMachineTest, ActionCloseFailure)
	TEST_F (GripperPositionStateMachineTest, ActionLockCheckFailure)
Variables
std::map< std::string, float >	testFloats
std::map< std::string, uint16_t >	testUInt16s

---

Function Documentation

float getFloat

(

const std::string &

name

)

Definition at line 26 of file GripperPositionStateMachine_Test.cpp.

uint16_t getUInt16

(

const std::string &

name

)

Definition at line 14 of file GripperPositionStateMachine_Test.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 745 of file GripperPositionStateMachine_Test.cpp.

void sendCommand

(

const r2_msgs::JointCommand &

msg

)

Definition at line 36 of file GripperPositionStateMachine_Test.cpp.

void setFloat	(	const std::string &	name,
		float	value
	)

Definition at line 31 of file GripperPositionStateMachine_Test.cpp.

void setUInt16	(	const std::string &	name,
		uint16_t	value
	)

Definition at line 19 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		InitialStates
	)

Definition at line 90 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		Loaded
	)

event driven

data driven

Definition at line 111 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		Locked
	)

event driven

data driven

Todo:

this is a very hard test because the gripper model is inaccurate

Definition at line 136 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		LockedStatus
	)

event driven

data driven

Todo:

this is a very hard test because the gripper model is inaccurate

Definition at line 158 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		Ready
	)

event driven

data driven

Definition at line 180 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		DesiredJawPosition
	)

event driven

data driven

Definition at line 198 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		Stalled
	)

event driven

data driven

can't be stalled if current limit isn't reached

Definition at line 232 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		Faulted
	)

event driven

Definition at line 253 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		Moving
	)

event driven

data driven

Definition at line 263 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		Open
	)

event driven

data driven

Definition at line 281 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		Force
	)

event driven

data driven

Definition at line 305 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		SetParameters
	)

Parameters can only be changed when Inactive or Listening

Definition at line 331 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		Command
	)

event driven

can't be active if faulted

data driven

Todo:

replace with data can't be active if faulted

Definition at line 378 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		Movement
	)

event driven

data driven

Todo:

check currents

Definition at line 416 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		ActionSet
	)

event driven by e_still

Done should never last, it auto-transitions to Listening.

event driven by e_isOpen

Done should never last, it auto-transitions to Listening.

already Open

already Open and AtDesiredJawPosition

data driven

Definition at line 480 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		ActionLock
	)

event driven

Done should never last, it auto-transitions to Listening.

already at desired jaw position

already at desired jaw position and locked

data driven

Todo:

replace with data

Definition at line 556 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		ActionRelease
	)

event driven stall transition

Done should never last, it auto-transitions to Listening.

isOpen transition

already Open

data driven

Todo:

set encoder and jaw angles to generate proper currentLimit

Definition at line 605 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		ActionInterrupt
	)

Definition at line 644 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		ActionOpenWideFailure
	)

event driven

Definition at line 656 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		ActionJawPositionCheckFailure
	)

event driven

Todo:

data driven

Definition at line 674 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		ActionCloseFailure
	)

event driven

Todo:

data driven

Definition at line 699 of file GripperPositionStateMachine_Test.cpp.

TEST_F	(	GripperPositionStateMachineTest	,
		ActionLockCheckFailure
	)

event driven

Todo:

data driven

Definition at line 719 of file GripperPositionStateMachine_Test.cpp.

---

Variable Documentation

std::map<std::string, float> testFloats

Definition at line 24 of file GripperPositionStateMachine_Test.cpp.

std::map<std::string, uint16_t> testUInt16s

Definition at line 12 of file GripperPositionStateMachine_Test.cpp.