YouBotBaseTestWithoutThread.hpp

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#ifndef YouBotBaseTestWithoutThread_HPP
#define YouBotBaseTestWithoutThread_HPP

#include <cppunit/TestCase.h>
#include <cppunit/extensions/HelperMacros.h>

#include <iostream>
#include <vector>
#include <signal.h>
#include "youbot_driver/youbot/YouBotBase.hpp"
#include "youbot_driver/youbot/YouBotManipulator.hpp"
#include "youbot_driver/youbot/DataTrace.hpp"

using namespace youbot;

class YouBotBaseTestWithoutThread : public CppUnit::TestFixture {
        CPPUNIT_TEST_SUITE(YouBotBaseTestWithoutThread);
        CPPUNIT_TEST(YouBotBaseTestWithoutThread_PositionMode);
        CPPUNIT_TEST(YouBotBaseTestWithoutThread_VelocityMode);
        CPPUNIT_TEST(YouBotBaseTestWithoutThread_CurrentMode);
        CPPUNIT_TEST_SUITE_END();

public:
        YouBotBaseTestWithoutThread();
        virtual ~YouBotBaseTestWithoutThread();

        void setUp();
        void tearDown();


        void YouBotBaseTestWithoutThread_PositionMode();
        void YouBotBaseTestWithoutThread_VelocityMode();
        void YouBotBaseTestWithoutThread_CurrentMode();

private:
        unsigned int jointNO;
        unsigned int stepStartTime;
        unsigned int durationNull;
        unsigned int overallTime;
        unsigned int startTime;
        unsigned int updateCycle;
        JointAngleSetpoint setAngle;
        JointVelocitySetpoint setVel;
        JointCurrentSetpoint currentSetpoint;
        EthercatMasterInterface* ethercatMaster;

};

#endif //YouBotBaseTestWithoutThread_HPP