#include <gtest/gtest.h>
#include <ros/ros.h>
#include <prbt_hardware_support/BrakeTest.h>
#include <prbt_hardware_support/WriteModbusRegister.h>
#include <prbt_hardware_support/canopen_chain_node_mock.h>
#include <prbt_hardware_support/joint_states_publisher_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>
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 {1} |
static constexpr uint16_t | MODBUS_BRAKE_TEST_PREPARE_VALUE {0} |
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} |
int main | ( | int | argc, |
char * | argv[] | ||
) |
Definition at line 156 of file integrationtest_execute_brake_test.cpp.
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Definition at line 34 of file integrationtest_execute_brake_test.cpp.
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Definition at line 31 of file integrationtest_execute_brake_test.cpp.
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Definition at line 38 of file integrationtest_execute_brake_test.cpp.
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Definition at line 37 of file integrationtest_execute_brake_test.cpp.
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Definition at line 32 of file integrationtest_execute_brake_test.cpp.
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Definition at line 36 of file integrationtest_execute_brake_test.cpp.