Namespaces | Functions | Variables
integrationtest_execute_brake_test.cpp File Reference
#include <gtest/gtest.h>
#include <ros/ros.h>
#include <pilz_msgs/BrakeTest.h>
#include <pilz_testutils/joint_state_publisher_mock.h>
#include <prbt_hardware_support/WriteModbusRegister.h>
#include <prbt_hardware_support/canopen_chain_node_mock.h>
#include <prbt_hardware_support/modbus_api_spec.h>
#include <prbt_hardware_support/pilz_manipulator_mock.h>
#include <prbt_hardware_support/pilz_modbus_server_mock.h>
#include <prbt_hardware_support/ros_test_helper.h>
Include dependency graph for integrationtest_execute_brake_test.cpp:

Go to the source code of this file.

Namespaces

 prbt_hardware_support
 

Functions

bool prbt_hardware_support::brakeTestRegisterSetOnServer (PilzModbusServerMock &server, unsigned short register_perf, unsigned short register_res, uint16_t expectation, float sleep_per_try_s, unsigned short retries)
 
int main (int argc, char *argv[])
 
 prbt_hardware_support::TEST (IntegrationtestExecuteBrakeTest, testBrakeTestService)
 

Variables

static const std::string CONTROLLER_HOLD_MODE_SERVICE_NAME { "/prbt/manipulator_joint_trajectory_controller/hold" }
 
static const std::string CONTROLLER_UNHOLD_MODE_SERVICE_NAME { "/prbt/manipulator_joint_trajectory_controller/unhold" }
 
static const std::string EXECUTE_BRAKE_TEST_SERVICE_NAME { "/prbt/execute_braketest" }
 
static constexpr uint16_t MODBUS_BRAKE_TEST_EXPECTED_VALUE { 2 }
 
static constexpr uint16_t MODBUS_BRAKE_TEST_PREPARE_VALUE { 1 }
 
static const std::string MODBUS_WRITE_SERVICE_NAME { "/pilz_modbus_client_node/modbus_write" }
 
static constexpr double WAIT_FOR_BRAKE_TEST_SERVICE_TIMEOUT_S { 5.0 }
 

Function Documentation

◆ main()

int main ( int  argc,
char *  argv[] 
)

Definition at line 148 of file integrationtest_execute_brake_test.cpp.

Variable Documentation

◆ CONTROLLER_HOLD_MODE_SERVICE_NAME

const std::string CONTROLLER_HOLD_MODE_SERVICE_NAME { "/prbt/manipulator_joint_trajectory_controller/hold" }
static

Definition at line 35 of file integrationtest_execute_brake_test.cpp.

◆ CONTROLLER_UNHOLD_MODE_SERVICE_NAME

const std::string CONTROLLER_UNHOLD_MODE_SERVICE_NAME { "/prbt/manipulator_joint_trajectory_controller/unhold" }
static

Definition at line 36 of file integrationtest_execute_brake_test.cpp.

◆ EXECUTE_BRAKE_TEST_SERVICE_NAME

const std::string EXECUTE_BRAKE_TEST_SERVICE_NAME { "/prbt/execute_braketest" }
static

Definition at line 33 of file integrationtest_execute_brake_test.cpp.

◆ MODBUS_BRAKE_TEST_EXPECTED_VALUE

constexpr uint16_t MODBUS_BRAKE_TEST_EXPECTED_VALUE { 2 }
static

Definition at line 40 of file integrationtest_execute_brake_test.cpp.

◆ MODBUS_BRAKE_TEST_PREPARE_VALUE

constexpr uint16_t MODBUS_BRAKE_TEST_PREPARE_VALUE { 1 }
static

Definition at line 39 of file integrationtest_execute_brake_test.cpp.

◆ MODBUS_WRITE_SERVICE_NAME

const std::string MODBUS_WRITE_SERVICE_NAME { "/pilz_modbus_client_node/modbus_write" }
static

Definition at line 34 of file integrationtest_execute_brake_test.cpp.

◆ WAIT_FOR_BRAKE_TEST_SERVICE_TIMEOUT_S

constexpr double WAIT_FOR_BRAKE_TEST_SERVICE_TIMEOUT_S { 5.0 }
static

Definition at line 38 of file integrationtest_execute_brake_test.cpp.



prbt_hardware_support
Author(s):
autogenerated on Wed Nov 25 2020 03:10:38