SVHDriverTest.cpp

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//
// © Copyright 2022 SCHUNK Mobile Greifsysteme GmbH, Lauffen/Neckar Germany
// © Copyright 2022 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// This file is part of the Schunk SVH Library.
//
// The Schunk SVH Library is free software: you can redistribute it and/or
// modify it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or (at your
// option) any later version.
//
// The Schunk SVH Library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
// Public License for more details.
//
// You should have received a copy of the GNU General Public License along with
// the Schunk SVH Library. If not, see <https://www.gnu.org/licenses/>.
//

//----------------------------------------------------------------------
//----------------------------------------------------------------------
#include <boost/test/unit_test.hpp>
#include <schunk_svh_library/serial/ByteOrderConversion.h>

#include <schunk_svh_library/control/SVHControlCommand.h>
#include <schunk_svh_library/control/SVHController.h>
#include <schunk_svh_library/control/SVHControllerFeedback.h>
#include <schunk_svh_library/control/SVHControllerState.h>
#include <schunk_svh_library/control/SVHCurrentSettings.h>
#include <schunk_svh_library/control/SVHEncoderSettings.h>
#include <schunk_svh_library/control/SVHFingerManager.h>
#include <schunk_svh_library/control/SVHPositionSettings.h>
#include <schunk_svh_library/serial/SVHSerialPacket.h>

using driver_svh::ArrayBuilder;
using namespace driver_svh;

BOOST_AUTO_TEST_SUITE(ts_SVHDriver)

ArrayBuilder g_payload(40);

BOOST_AUTO_TEST_CASE(ConvertPosSettings)
{
  std::cout << "Conversion test of Position Settings ....";

  // Reset Array Builder
  g_payload.reset(40);

  // Create Structures
  SVHPositionSettings test_pos_settings_in(0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.1);
  SVHPositionSettings test_pos_settings_out;

  // Conversion
  g_payload << test_pos_settings_in;
  g_payload >> test_pos_settings_out;

  BOOST_CHECK_EQUAL(test_pos_settings_in, test_pos_settings_out);

  std::cout << "Done" << std::endl;
}

BOOST_AUTO_TEST_CASE(ConvertCurSettings)
{
  std::cout << "Conversion test of Current Settings ....";

  // Reset Array Builder
  g_payload.reset(40);

  // Create Structures
  SVHCurrentSettings test_cur_settings_in(0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.1);
  SVHCurrentSettings test_cur_settings_out;

  // Conversion
  g_payload << test_cur_settings_in;
  g_payload >> test_cur_settings_out;

  BOOST_CHECK_EQUAL(test_cur_settings_in, test_cur_settings_out);

  std::cout << "Done" << std::endl;
}

BOOST_AUTO_TEST_CASE(ConvertControlCommand)
{
  std::cout << "Conversion test of Controll Command ....";

  // Reset Array Builder
  g_payload.reset(40);

  // Create Structures
  SVHControlCommand test_control_command_in(23);
  SVHControlCommand test_control_command_out(0);

  // Conversion
  g_payload << test_control_command_in;
  g_payload >> test_control_command_out;

  BOOST_CHECK_EQUAL(test_control_command_in, test_control_command_out);

  std::cout << "Done" << std::endl;
}


BOOST_AUTO_TEST_CASE(ConvertControlFeedback)
{
  std::cout << "Conversion test of ControllerFeedback ....";

  // Reset Array Builder
  g_payload.reset(40);

  // Create Structures
  SVHControllerFeedback test_controller_feedback_in(23, 42);
  SVHControllerFeedback test_controller_feedback_out;

  // Conversion
  g_payload << test_controller_feedback_in;
  g_payload >> test_controller_feedback_out;

  BOOST_CHECK_EQUAL(test_controller_feedback_in, test_controller_feedback_out);

  std::cout << "Done" << std::endl;
}

BOOST_AUTO_TEST_CASE(ConvertControllerState)
{
  std::cout << "Converstion test of ControllerState ....";

  // Reset Array Builder
  g_payload.reset(40);

  // Create Structures
  SVHControllerState test_controller_state_in(0x001F, 0x001F, 0x0200, 0x02000, 0x0001, 0x0001);
  SVHControllerState test_controller_state_out;

  // Conversion
  g_payload << test_controller_state_in;
  g_payload >> test_controller_state_out;


  BOOST_CHECK_EQUAL(test_controller_state_in, test_controller_state_out);

  std::cout << "Done" << std::endl;
}

BOOST_AUTO_TEST_CASE(ConvertEncoderSettings)
{
  std::cout << "Converstion test of EncoderSettings ....";

  // Reset Array Builder
  g_payload.reset(40);

  // Create Structures
  SVHEncoderSettings test_encoder_settings_in(23);
  SVHEncoderSettings test_encoder_settings_out;

  // Conversion
  g_payload << test_encoder_settings_in;
  g_payload >> test_encoder_settings_out;

  BOOST_CHECK_EQUAL(test_encoder_settings_in, test_encoder_settings_out);

  std::cout << "Done" << std::endl;
}

BOOST_AUTO_TEST_CASE(ConvertControlCommandAllChannels)
{
  std::cout << "Converstion test of ControlCommandAllChannels ....";

  // Reset Array Builder
  g_payload.reset(40);

  // Create Structures
  SVHControlCommandAllChannels test_control_command_in(0, 1, 2, 3, 4, 5, 6, 7, 8);
  SVHControlCommandAllChannels test_control_command_out;

  // Conversion
  g_payload << test_control_command_in;
  g_payload >> test_control_command_out;

  BOOST_CHECK_EQUAL(test_control_command_in, test_control_command_out);

  std::cout << "Done" << std::endl;
}

BOOST_AUTO_TEST_CASE(ConvertControllerFeedbackAllChannels)
{
  std::cout << "Converstion test of ControllerFeedbackAllChannels ....";

  // Reset Array Builder
  g_payload.reset(40);

  // Create Structures
  SVHControllerFeedbackAllChannels test_controller_feedback_all_channels_in(
    SVHControllerFeedback(0, 9),
    SVHControllerFeedback(1, 10),
    SVHControllerFeedback(2, 11),
    SVHControllerFeedback(3, 12),
    SVHControllerFeedback(4, 13),
    SVHControllerFeedback(5, 14),
    SVHControllerFeedback(6, 15),
    SVHControllerFeedback(7, 16),
    SVHControllerFeedback(8, 17));
  SVHControllerFeedbackAllChannels test_controller_feedback_all_channels_out;


  // Conversion
  g_payload << test_controller_feedback_all_channels_in;
  g_payload >> test_controller_feedback_all_channels_out;

  BOOST_CHECK_EQUAL(test_controller_feedback_all_channels_in,
                    test_controller_feedback_all_channels_out);

  std::cout << "Done" << std::endl;
}


BOOST_AUTO_TEST_CASE(ConvertSerialPacket)
{
  std::cout << "Converstion test of Serial Packet ....";

  // Reset Array Builder
  g_payload.reset(40);

  // Create Structures
  ArrayBuilder packet;
  SVHSerialPacket test_serial_packet_in(40, 5);
  SVHSerialPacket test_serial_packet_out(40);
  SVHPositionSettings test_pos_settings_in(0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.1);
  SVHPositionSettings test_pos_settings_out;

  // Conversion
  g_payload << test_pos_settings_in;
  // Insertion
  test_serial_packet_in.data = g_payload.array;
  // Converstion (this would be done by serialinterface)
  packet << test_serial_packet_in;

  // std::cout << "Raw Serial Packet of Position settings: " << packet << std::endl;

  packet >> test_serial_packet_out;
  g_payload.reset(40);
  g_payload.appendWithoutConversion(test_serial_packet_out.data);
  g_payload >> test_pos_settings_out;

  BOOST_CHECK_EQUAL(test_serial_packet_in, test_serial_packet_out);
  BOOST_CHECK_EQUAL(test_pos_settings_in, test_pos_settings_out);

  // std::cout << "Original pos Settings: " << test_pos_settings_in << " Interpreted pos settings:
  // "<< test_pos_settings_out <<std::endl;
  std::cout << "Done" << std::endl;
}

BOOST_AUTO_TEST_CASE(ControllerreceiveFeedback)
{
  std::cout << "Controller receiving feedback Packet ....";

  // Reset Array Builder
  // BEWARE OF ARRAY LENGTH!
  g_payload.reset(64);

  // Create Structures
  SVHController controller;
  ArrayBuilder packet;
  SVHChannel channel = SVH_INDEX_FINGER_DISTAL;
  SVHSerialPacket test_serial_packet(64,
                                     SVH_SET_CONTROL_COMMAND | static_cast<uint8_t>(channel << 4));
  SVHControllerFeedback test_controller_feedback(23, 42);
  // Conversion
  g_payload << test_controller_feedback;


  // Insertion
  test_serial_packet.data = g_payload.array;

  // Emulate received packet
  controller.receivedPacketCallback(test_serial_packet, 1);

  // Get packet from controller
  SVHControllerFeedback feedback_out;
  controller.getControllerFeedback(channel, feedback_out);

  BOOST_CHECK_EQUAL(test_controller_feedback, feedback_out);

  std::cout << "Done" << std::endl;
}


BOOST_AUTO_TEST_SUITE_END()