sr_self_test.hpp
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00001 
00027 #ifndef SR_SELF_TEST_HPP_
00028 #define SR_SELF_TEST_HPP_
00029 
00030 #include <diagnostic_msgs/SelfTest.h>
00031 
00032 #include "sr_self_test/sr_test_runner.hpp"
00033 #include "sr_self_test/motor_test.hpp"
00034 
00035 #include <boost/thread.hpp>
00036 #include <boost/ptr_container/ptr_vector.hpp>
00037 #include <sr_robot_msgs/joint.h>
00038 #include <sr_hand/hand_commander.hpp>
00039 #include <ros/ros.h>
00040 
00041 #include "sr_self_test/test_joint_movement.hpp"
00042 
00043 namespace shadow_robot
00044 {
00045   class SrSelfTest {
00046   public:
00047     SrSelfTest(bool simulated, const std::string& ns = "");
00048     ~SrSelfTest() {};
00049 
00050     void checkTest()
00051     {
00052       test_runner_.checkTest();
00053     }
00054 
00055     void checkTestAsync()
00056     {
00057       test_thread_.reset(new boost::thread(boost::bind(&SrSelfTest::checkTest, this)));
00058     }
00059 
00060   private:
00061     ros::NodeHandle nh_tilde_;
00062     ros::NodeHandle nh_;
00063     // self_test::TestRunner is the handles sequencing driver self-tests.
00064     shadow_robot::SrTestRunner test_runner_;
00066     boost::shared_ptr<shadowrobot::HandCommander> hand_commander_;
00068     bool simulated_;
00070     void test_services_();
00072     std::vector<std::string> joints_to_test_;
00073 
00075     boost::ptr_vector<MotorTest> motor_tests_;
00076 
00078     // TESTING MOVEMENTS
00079 
00081     size_t index_joints_to_test_;
00087     void add_all_movements_tests_(const ros::TimerEvent& event);
00089     ros::Timer test_movement_timer_;
00094     void test_movement_(diagnostic_updater::DiagnosticStatusWrapper& status);
00100     void send_safe_target_(std::string joint_name);
00102     boost::shared_ptr<std::map<std::string, sr_robot_msgs::joint> > safe_targets_;
00104     void init_safe_targets_();
00111     void update_safe_targets_(std::string joint_name);
00113     std::map<std::string, boost::shared_ptr<TestJointMovement> > test_mvts_;
00115     static const double MAX_MSE_CONST_;
00117     std::string path_to_plots_;
00118 
00120     boost::shared_ptr<boost::thread> test_thread_;
00121   };
00122 }
00123 
00124 /* For the emacs weenies in the crowd.
00125    Local Variables:
00126    c-basic-offset: 2
00127    End:
00128 */
00129 
00130 #endif /* SR_SELF_TEST_HPP_ */


sr_self_test
Author(s): Ugo Cupcic
autogenerated on Fri Aug 21 2015 12:25:57