click-mirror/cpp-src/click/tests/TestControlMessage.cpp at main · Algoryx/click-mirror · GitHub

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#include <catch2/catch_all.hpp>
#include <click/ControlMessage.h>
#include <click/ControlMessageBuilder.h>
#include <click/MessageSerializer.h>
#include <Messaging.pb.h>

using namespace std;
using namespace click;
using Catch::Matchers::Equals;

inline vector<double> double_vector_from(initializer_list<double> doubles)
{
    return vector<double>(doubles);
}

SCENARIO("controlmessage serialization", "[click]")
{
    GIVEN("A controlmessage")
    {
        vector<double> angles = double_vector_from({1, 2, 3, 4, 5});
        vector<double> angularVelocities = double_vector_from({2, 3, 4, 5, 6});
        vector<double> torques = double_vector_from({3, 4, 5, 6, 7});
        vector<double> values = double_vector_from({4, 5, 6, 7, 8});

        WHEN("adding a robot with angle controls")
        {
            unique_ptr<ControlMessage> controlMessage = ControlMessageBuilderImpl::builder()
                ->object("robot1")
                    ->withAngles(angles)
                    ->withControlEvent("gripper", true)
                    ->withControlEvent("gripper2", false)
                ->build();

            THEN("it should have gripper and gripper2, not gripper 3")
            {
                REQUIRE(controlMessage->hasControlEvent("robot1", "gripper") == true);
                REQUIRE(controlMessage->hasControlEvent("robot1", "gripper2") == true);
                REQUIRE(controlMessage->hasControlEvent("robot1", "gripper3") == false);
            }
            THEN("it should not have robot2")
            {
                REQUIRE(controlMessage->hasControlEvent("robot2", "gripper") == false);
            }
            THEN("it should have two grippers one activated and one not activated")
            {
                REQUIRE(controlMessage->messageType() == MessageType::ControlMessageType);
                REQUIRE(controlMessage->controlEvent("robot1", "gripper"));
                REQUIRE(controlMessage->controlEvent("robot1", "gripper2") == false);
            }
        }
        WHEN("adding a robot with per joint controls")
        {
            unique_ptr<ControlMessage> controlMessage = ControlMessageBuilderImpl::builder()
                ->object("robot1")
                    ->withValues(values)
                    ->withControlEvent("gripper", true)
                    ->withControlEvent("gripper2", false)
                ->build();

            THEN("it should have two grippers one activated and one not activated")
            {
                REQUIRE(controlMessage->messageType() == MessageType::ControlMessageType);
                REQUIRE(controlMessage->controlEvent("robot1", "gripper"));
                REQUIRE(controlMessage->controlEvent("robot1", "gripper2") == false);
            }
        }
        WHEN("adding three robots with different controls")
        {
            unique_ptr<ControlMessage> controlMessage = ControlMessageBuilderImpl::builder()
                ->object("robot1")
                    ->withAngles(angles)
                    ->withControlEvent("gripper", true)
                ->object("robot2")
                    ->withAngularVelocities(angularVelocities)
                    ->withControlEvent("gripper", false)
                    ->withControlEvent("grupper", true)
                ->object("robot3")
                    ->withTorques(torques)
                ->build();

            THEN("it should contain the control values")
            {
                REQUIRE(controlMessage->messageType() == MessageType::ControlMessageType);
                REQUIRE(controlMessage->controlEvent("robot1", "gripper"));
                REQUIRE_THAT(controlMessage->angles("robot1"), Equals(angles));
                REQUIRE_THAT(controlMessage->angularVelocities("robot2"), Equals(angularVelocities));
                REQUIRE_THAT(controlMessage->torques("robot3"), Equals(torques));

                string control_facit =
                    "messageType: ControlMessageType\n"
                    "objects {\n"
                    "  key: \"robot1\"\n"
                    "  value {\n"
                    "    angles: 1\n"
                    "    angles: 2\n"
                    "    angles: 3\n"
                    "    angles: 4\n"
                    "    angles: 5\n"
                    "    controlEvents {\n"
                    "      key: \"gripper\"\n"
                    "      value: true\n"
                    "    }\n"
                    "  }\n"
                    "}\n"
                    "objects {\n"
                    "  key: \"robot2\"\n"
                    "  value {\n"
                    "    angularVelocities: 2\n"
                    "    angularVelocities: 3\n"
                    "    angularVelocities: 4\n"
                    "    angularVelocities: 5\n"
                    "    angularVelocities: 6\n"
                    "    controlEvents {\n"
                    "      key: \"gripper\"\n"
                    "      value: false\n"
                    "    }\n"
                    "    controlEvents {\n"
                    "      key: \"grupper\"\n"
                    "      value: true\n"
                    "    }\n"
                    "  }\n"
                    "}\n"
                    "objects {\n"
                    "  key: \"robot3\"\n"
                    "  value {\n"
                    "    torques: 3\n"
                    "    torques: 4\n"
                    "    torques: 5\n"
                    "    torques: 6\n"
                    "    torques: 7\n"
                    "  }\n"
                    "}\n";

                REQUIRE_THAT(controlMessage->debugString(), Equals(control_facit));
            }

            THEN("it should serialize to string")
            {
                MessageSerializer serializer;
                REQUIRE(serializer.serializeToString(*controlMessage).length() > 10);
            }

            THEN("it should be deserialized from string")
            {
                MessageSerializer serializer;
                string bytes = serializer.serializeToString(*controlMessage);

                unique_ptr<Message> message = serializer.fromBytes(bytes);
                REQUIRE(message->messageType() == MessageType::ControlMessageType);
                REQUIRE_THAT(message->debugString(), Equals(controlMessage->debugString()));
            }
        }
    }
}