sr_self_test.hpp

Go to the documentation of this file.

#ifndef SR_SELF_TEST_HPP_
#define SR_SELF_TEST_HPP_

#include <diagnostic_msgs/SelfTest.h>

#include "sr_self_test/sr_test_runner.hpp"
#include "sr_self_test/motor_test.hpp"

#include <boost/thread.hpp>
#include <boost/ptr_container/ptr_vector.hpp>
#include <sr_robot_msgs/joint.h>
#include <sr_hand/hand_commander.hpp>
#include <ros/ros.h>

#include "sr_self_test/test_joint_movement.hpp"

namespace shadow_robot
{
  class SrSelfTest {
  public:
    SrSelfTest(bool simulated);
    ~SrSelfTest() {};

    void checkTest()
    {
      test_runner_.checkTest();
    }

    void checkTestAsync()
    {
      test_thread_.reset(new boost::thread(boost::bind(&SrSelfTest::checkTest, this)));
    }

  private:
    ros::NodeHandle nh_tilde_;
    // self_test::TestRunner is the handles sequencing driver self-tests.
    shadow_robot::SrTestRunner test_runner_;
    boost::shared_ptr<shadowrobot::HandCommander> hand_commander_;
    bool simulated_;
    void test_services_();
    std::vector<std::string> joints_to_test_;

    boost::ptr_vector<MotorTest> motor_tests_;

    // TESTING MOVEMENTS

    size_t index_joints_to_test_;
    void add_all_movements_tests_(const ros::TimerEvent& event);
    ros::Timer test_movement_timer_;
    void test_movement_(diagnostic_updater::DiagnosticStatusWrapper& status);
    void send_safe_target_(std::string joint_name);
    boost::shared_ptr<std::map<std::string, sr_robot_msgs::joint> > safe_targets_;
    void init_safe_targets_();
    void update_safe_targets_(std::string joint_name);
    std::map<std::string, boost::shared_ptr<TestJointMovement> > test_mvts_;
    static const double MAX_MSE_CONST_;
    std::string path_to_plots_;

    boost::shared_ptr<boost::thread> test_thread_;
  };
}

/* For the emacs weenies in the crowd.
   Local Variables:
   c-basic-offset: 2
   End:
*/

#endif /* SR_SELF_TEST_HPP_ */