unittest_canopen_braketest_adapter.cpp File Reference

#include <functional>
#include <memory>
#include <gtest/gtest.h>
#include <gmock/gmock.h>
#include <ros/ros.h>
#include <canopen_chain_node/GetObject.h>
#include <canopen_chain_node/SetObject.h>
#include <prbt_hardware_support/canopen_braketest_adapter.h>
#include <prbt_hardware_support/canopen_braketest_adapter_exception.h>
#include <prbt_hardware_support/BrakeTest.h>
#include <prbt_hardware_support/joint_states_publisher_mock.h>
#include <prbt_hardware_support/canopen_chain_node_mock.h>

Include dependency graph for unittest_canopen_braketest_adapter.cpp:

Go to the source code of this file.

Classes
class	canopen_braketest_adapter_test::CanOpenBraketestAdapterTest

Namespaces
	canopen_braketest_adapter_test

Macros
#define	DEFAULT_SETUP

Functions
int	main (int argc, char *argv[])
	canopen_braketest_adapter_test::TEST_F (CanOpenBraketestAdapterTest, testCANOpenBrakeTestAdapterExceptionDtor)
	canopen_braketest_adapter_test::TEST_F (CanOpenBraketestAdapterTest, testBrakeTestServiceWithoutCANGetService)
	canopen_braketest_adapter_test::TEST_F (CanOpenBraketestAdapterTest, testBrakeTestServiceWithoutCANSetService)
	canopen_braketest_adapter_test::TEST_F (CanOpenBraketestAdapterTest, testBrakeTestServiceWithoutNodeParameters)
	canopen_braketest_adapter_test::TEST_F (CanOpenBraketestAdapterTest, testBrakeTestServiceWithNodeParametersTypeError)
	canopen_braketest_adapter_test::TEST_F (CanOpenBraketestAdapterTest, testGetBrakeTestDurationServiceCallFailure)
	canopen_braketest_adapter_test::TEST_F (CanOpenBraketestAdapterTest, testGetBrakeTestDurationServiceResponseFailure)
	canopen_braketest_adapter_test::TEST_F (CanOpenBraketestAdapterTest, testStartBrakeTestServiceCallSuccess)
	canopen_braketest_adapter_test::TEST_F (CanOpenBraketestAdapterTest, testStartBrakeTestServiceCallFailure)
	canopen_braketest_adapter_test::TEST_F (CanOpenBraketestAdapterTest, testStartBrakeTestServiceResponseFailure)
	canopen_braketest_adapter_test::TEST_F (CanOpenBraketestAdapterTest, testBrakeTestStatusServiceCallFailure)
	canopen_braketest_adapter_test::TEST_F (CanOpenBraketestAdapterTest, testBrakeTestStatusServiceResponseFailure)
	canopen_braketest_adapter_test::TEST_F (CanOpenBraketestAdapterTest, testBrakeTestStatusUnknown)
	canopen_braketest_adapter_test::TEST_F (CanOpenBraketestAdapterTest, testBrakeTestStatusPerformed)
	canopen_braketest_adapter_test::TEST_F (CanOpenBraketestAdapterTest, testBrakeTestStatusNotSuccessful)
	canopen_braketest_adapter_test::TEST_F (CanOpenBraketestAdapterTest, testBrakeTestStatusNotActivelyControlled)

Variables
static const std::string	canopen_braketest_adapter_test::BRAKE_TEST_DURATION_OBJECT_INDEX {"2060sub1"}
static const std::string	canopen_braketest_adapter_test::BRAKE_TEST_SERVICE_NAME {"/prbt/braketest_adapter_node/trigger_braketest"}
static const std::string	canopen_braketest_adapter_test::BRAKE_TEST_STATUS_OBJECT_INDEX {"2060sub3"}
static const std::string	canopen_braketest_adapter_test::BRAKETEST_REQUIRED_NAME {"braketest_required"}
static constexpr int	canopen_braketest_adapter_test::NODE_COUNT {6}
static const std::string	canopen_braketest_adapter_test::NODE_NAMES_PARAMETER_NAME {"/prbt/driver/nodes"}
static const std::string	canopen_braketest_adapter_test::NODE_NAMES_PREFIX {"prbt_joint_"}
static const std::vector< size_t >	canopen_braketest_adapter_test::NODE_TEST_SET {{0, 2, 5}}
static const std::string	canopen_braketest_adapter_test::START_BRAKE_TEST_OBJECT_INDEX {"2060sub2"}

Macro Definition Documentation

#define DEFAULT_SETUP

Value:

CANOpenChainNodeMock canopen_chain_node;\
ros::NodeHandle nh_adapter("/prbt/braketest_adapter_node");\
prbt_hardware_support::CANOpenBrakeTestAdapter canopen_braketest_adapter(nh_adapter);\
ros::ServiceClient brake_test_srv_client = nh_.serviceClient<BrakeTest>(BRAKE_TEST_SERVICE_NAME);\
\
ASSERT_TRUE(brake_test_srv_client.exists()) << "Brake test service not available.";\

Definition at line 57 of file unittest_canopen_braketest_adapter.cpp.

Function Documentation

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

Definition at line 830 of file unittest_canopen_braketest_adapter.cpp.