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/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 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

DEFAULT_SETUP

#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 54 of file unittest_canopen_braketest_adapter.cpp.

Function Documentation

main()

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

Definition at line 827 of file unittest_canopen_braketest_adapter.cpp.