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44 #include <gtest/gtest.h>
63 const int tcpPort = TEST_PORT_BASE+401;
64 char ipAddr[] =
"127.0.0.1";
70 ASSERT_TRUE(send.
toTopic(msgSend));
74 ASSERT_TRUE(tcpServer.
init(tcpPort));
77 ASSERT_TRUE(tcpClient.
init(&ipAddr[0], tcpPort));
82 ASSERT_TRUE(tcpClient.
sendMsg(msgSend));
84 ASSERT_TRUE(recv.
init(msgRecv));
100 EXPECT_TRUE(joint.
setJoint(8, 9.0));
101 EXPECT_TRUE(joint.
setJoint(9, 10.0));
103 EXPECT_FALSE(joint.
setJoint(10, 11.0));
116 EXPECT_FALSE(jointlhs==jointrhs);
121 EXPECT_TRUE(jointlhs==jointrhs);
133 msg.
init(1, toMessage);
137 EXPECT_TRUE(toMessage==fromMessage);
159 jointSend.
init(1, posSend);
164 ASSERT_TRUE(posRecv==posSend);
173 ASSERT_TRUE(joint.
setJoint(0, 1.0));
174 ASSERT_TRUE(joint.
setJoint(1, 2.0));
175 ASSERT_TRUE(joint.
setJoint(2, 3.0));
176 ASSERT_TRUE(joint.
setJoint(3, 4.0));
177 ASSERT_TRUE(joint.
setJoint(4, 5.0));
178 ASSERT_TRUE(joint.
setJoint(5, 6.0));
179 ASSERT_TRUE(joint.
setJoint(6, 7.0));
180 ASSERT_TRUE(joint.
setJoint(7, 8.0));
181 ASSERT_TRUE(joint.
setJoint(8, 9.0));
182 ASSERT_TRUE(joint.
setJoint(9, 10.0));
184 rhs.
init(1.0, joint, 50.0, 100);
185 EXPECT_FALSE(lhs==rhs);
187 lhs.
init(0, joint, 0, 0);
188 EXPECT_FALSE(lhs==rhs);
191 EXPECT_TRUE(lhs==rhs);
206 EXPECT_TRUE(toMessage==fromMessage);
228 posSend.
init(1, data, 99, 100);
230 jointSend.
init(posSend);
235 ASSERT_TRUE(posRecv==posSend);
245 ASSERT_TRUE(joint.
setJoint(0, 1.0));
246 ASSERT_TRUE(joint.
setJoint(1, 2.0));
247 ASSERT_TRUE(joint.
setJoint(2, 3.0));
248 ASSERT_TRUE(joint.
setJoint(3, 4.0));
249 ASSERT_TRUE(joint.
setJoint(4, 5.0));
250 ASSERT_TRUE(joint.
setJoint(5, 6.0));
251 ASSERT_TRUE(joint.
setJoint(6, 7.0));
252 ASSERT_TRUE(joint.
setJoint(7, 8.0));
253 ASSERT_TRUE(joint.
setJoint(8, 9.0));
254 ASSERT_TRUE(joint.
setJoint(9, 10.0));
256 point.
init(1.0, joint, 50.0, 100);
258 EXPECT_FALSE(lhs==rhs);
261 EXPECT_TRUE(lhs==rhs);
264 EXPECT_FALSE(lhs==rhs);
267 EXPECT_TRUE(lhs==rhs);
293 EXPECT_TRUE(status==empty);
307 EXPECT_TRUE(lhs==rhs);
309 EXPECT_FALSE(lhs==rhs);
311 EXPECT_TRUE(lhs==rhs);
314 EXPECT_FALSE(lhs==rhs);
316 EXPECT_TRUE(lhs==rhs);
319 EXPECT_FALSE(lhs==rhs);
321 EXPECT_TRUE(lhs==rhs);
324 EXPECT_FALSE(lhs==rhs);
326 EXPECT_TRUE(lhs==rhs);
329 EXPECT_FALSE(lhs==rhs);
331 EXPECT_TRUE(lhs==rhs);
334 EXPECT_FALSE(lhs==rhs);
336 EXPECT_TRUE(lhs==rhs);
339 EXPECT_FALSE(lhs==rhs);
341 EXPECT_TRUE(lhs==rhs);
356 EXPECT_TRUE(toMessage==fromMessage);
368 statusMsgSend.
init(statusSend);
373 ASSERT_TRUE(statusRecv==statusSend);
Class encapsulated joint data (positions, accelerations, velocity, torque, and/or effort).
Class encapsulated joint trajectory point data. The point data serves as a waypoint along a trajector...
bool init(industrial::simple_message::SimpleMessage &msg)
Initializes message from a simple message.
void copyFrom(JointTraj &src)
Copies the passed in value.
industrial::joint_traj_pt::JointTrajPt point_
industrial::robot_status::RobotStatus status_
void copyFrom(RobotStatus &src)
Copies the passed in value.
industrial::shared_types::shared_int getErrorCode() const
Class encapsulated joint trajectory. A joint trajectory includes an array of JointTrajPt data types....
virtual bool toTopic(industrial::simple_message::SimpleMessage &msg)
creates a simple_message topic
void setSequence(industrial::shared_types::shared_int sequence)
Sets joint trajectory point sequence number.
virtual bool init(industrial::simple_message::SimpleMessage &msg)=0
Initializes message from a simple message.
void setDrivesPowered(TriState drivesPowered)
void setEStopped(TriState eStopped)
void setMotionPossible(TriState motionPossible)
bool init(int port_num)
initializes TCP server socket. The connect method must be called following initialization in order to...
void setMode(RobotMode mode)
This class defines a simple messaging protocol for communicating with an industrial robot controller.
void setInError(TriState inError)
Class encapsulated robot status data. The robot status data is meant to mirror the industrial_msgs/Ro...
Defines TCP server functions.
bool init(char *buff, int port_num)
initializes TCP client socket. Object can either be a client OR a server, NOT BOTH.
void init()
Initializes a empty joint data.
bool addPoint(industrial::joint_traj_pt::JointTrajPt &point)
Adds a point value to the end of the buffer.
bool makeConnect()
connects to the remote host
Class encapsulated joint message generation methods (either to or from a SimpleMessage type....
TriState getMotionPossible()
void init()
Initializes a empty joint trajectory point.
bool init(industrial::simple_message::SimpleMessage &msg)
Initializes message from a simple message.
Class encapsulated robot status message generation methods (either to or from a industrial::simple_me...
void setErrorCode(industrial::shared_types::shared_int errorCode)
Class encapsulated joint trajectory point message generation methods (either to or from a industrial:...
void messagePassing(TypedMessage &send, TypedMessage &recv)
void setInMotion(TriState inMotion)
void copyFrom(JointData &src)
Copies the passed in value.
industrial::joint_data::JointData & getJoints()
returns reference to underlying joint class
bool makeConnect()
connects to the remote host
Message interface for typed messages built from SimpleMessage.
TriState getDrivesPowered()
void init()
Initializes an empty robot status.
virtual bool receiveMsg(industrial::simple_message::SimpleMessage &message)
Receives a message using the data connection.
Defines TCP client functions.
bool setJoint(industrial::shared_types::shared_int index, industrial::shared_types::shared_real value)
Sets a joint value within the buffer.
void copyFrom(JointTrajPt &src)
Copies the passed in value.
virtual bool sendMsg(industrial::simple_message::SimpleMessage &message)
Sends a message using the data connection.
bool init(industrial::simple_message::SimpleMessage &msg)
Initializes message from a simple message.
simple_message
Author(s): Shaun Edwards
autogenerated on Wed Mar 2 2022 00:24:53