Add tests for hasError() method

bochen87 · bochen87 · commit 41d1a3471fe4 · 2018-10-04T14:16:36.000+02:00
diff --git a/combined_robot_hw_tests/CMakeLists.txt b/combined_robot_hw_tests/CMakeLists.txt
@@ -25,6 +25,7 @@ add_library(${PROJECT_NAME}
   src/my_robot_hw_2.cpp
   src/my_robot_hw_3.cpp
   src/my_robot_hw_4.cpp
+  src/my_robot_hw_5.cpp
 )
 add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
diff --git a/combined_robot_hw_tests/include/combined_robot_hw_tests/my_robot_hw_5.h b/combined_robot_hw_tests/include/combined_robot_hw_tests/my_robot_hw_5.h
@@ -0,0 +1,54 @@
+///////////////////////////////////////////////////////////////////////////////
+// Copyright (C) 2015, Shadow Robot Company Ltd.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//   * Redistributions of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//   * Redistributions in binary form must reproduce the above copyright
+//     notice, this list of conditions and the following disclaimer in the
+//     documentation and/or other materials provided with the distribution.
+//   * Neither the name of hiDOF, Inc. nor the names of its
+//     contributors may be used to endorse or promote products derived from
+//     this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//////////////////////////////////////////////////////////////////////////////
+
+
+
+#ifndef CONTROLLER_MANAGER_TESTS_MY_ROBOT_HW_5_H
+#define CONTROLLER_MANAGER_TESTS_MY_ROBOT_HW_5_H
+
+#include <hardware_interface/joint_command_interface.h>
+#include <hardware_interface/robot_hw.h>
+#include <pluginlib/class_list_macros.hpp>
+
+namespace combined_robot_hw_tests
+{
+
+class MyRobotHW5 : public hardware_interface::RobotHW
+{
+public:
+  MyRobotHW5();
+  virtual ~MyRobotHW5(){};
+  virtual bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh);
+  void read(const ros::Time& time, const ros::Duration& period);
+  void write(const ros::Time& time, const ros::Duration& period);
+  bool hasError();
+
+};
+}
+
+
+#endif
diff --git a/combined_robot_hw_tests/src/my_robot_hw_5.cpp b/combined_robot_hw_tests/src/my_robot_hw_5.cpp
@@ -0,0 +1,61 @@
+///////////////////////////////////////////////////////////////////////////////
+// Copyright (C) 2015, Shadow Robot Company Ltd.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//   * Redistributions of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//   * Redistributions in binary form must reproduce the above copyright
+//     notice, this list of conditions and the following disclaimer in the
+//     documentation and/or other materials provided with the distribution.
+//   * Neither the name of Shadow Robot Company Ltd. nor the names of its
+//     contributors may be used to endorse or promote products derived from
+//     this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//////////////////////////////////////////////////////////////////////////////
+
+
+#include <combined_robot_hw_tests/my_robot_hw_5.h>
+
+namespace combined_robot_hw_tests
+{
+
+MyRobotHW5::MyRobotHW5()
+{
+}
+
+bool MyRobotHW5::init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh)
+{
+  return true;
+}
+
+
+void MyRobotHW5::read(const ros::Time& time, const ros::Duration& period)
+{
+
+}
+
+void MyRobotHW5::write(const ros::Time& time, const ros::Duration& period)
+{
+}
+
+bool MyRobotHW5::hasError()
+{
+  return true;
+}
+
+}
+
+PLUGINLIB_EXPORT_CLASS( combined_robot_hw_tests::MyRobotHW5, hardware_interface::RobotHW)
+
diff --git a/combined_robot_hw_tests/test/cm_test.test b/combined_robot_hw_tests/test/cm_test.test
@@ -20,6 +20,8 @@
       joint_name_filter: right_arm
     my_robot_hw_4:
       type: combined_robot_hw_tests/MyRobotHW4
+    my_robot_hw_5:
+      type: combined_robot_hw_tests/MyRobotHW5
     my_controller:
       type: controller_manager_tests/EffortTestController
     my_controller2:
diff --git a/combined_robot_hw_tests/test/combined_robot_hw_test.cpp b/combined_robot_hw_tests/test/combined_robot_hw_test.cpp
@@ -94,6 +94,9 @@ TEST(CombinedRobotHWTests, combinationOk)
   robot_hw.write(ros::Time::now(), period);
   ej_handle = ej_interface->getHandle("test_joint2");
   ASSERT_FLOAT_EQ(3.5, ej_handle.getCommand());
+
+  bool error = robot_hw.hasError();
+  ASSERT_TRUE(error);
 }
 
 TEST(CombinedRobotHWTests, switchOk)
diff --git a/combined_robot_hw_tests/test/combined_robot_hw_test.test b/combined_robot_hw_tests/test/combined_robot_hw_test.test
@@ -5,6 +5,7 @@
     - my_robot_hw_2
     - my_robot_hw_3
     - my_robot_hw_4
+    - my_robot_hw_5
     my_robot_hw_1:
       type: combined_robot_hw_tests/MyRobotHW1
     my_robot_hw_2:
@@ -18,6 +19,8 @@
       joint_name_filter: right_arm
     my_robot_hw_4:
       type: combined_robot_hw_tests/MyRobotHW4
+    my_robot_hw_5:
+      type: combined_robot_hw_tests/MyRobotHW5
   </rosparam>
 
   <test test-name="combined_robot_hw_tests" pkg="combined_robot_hw_tests" type="combined_robot_hw_test"/>
diff --git a/combined_robot_hw_tests/test_robot_hw_plugin.xml b/combined_robot_hw_tests/test_robot_hw_plugin.xml
@@ -22,4 +22,10 @@
     A type of RobotHW
   </description>
   </class>
+  
+  <class name="combined_robot_hw_tests/MyRobotHW5" type="combined_robot_hw_tests::MyRobotHW5" base_class_type="hardware_interface::RobotHW">
+  <description>
+    A type of RobotHW
+  </description>
+  </class>
 </library>

Original file line number	Diff line number	Diff line change
`@@ -25,6 +25,7 @@ add_library(${PROJECT_NAME}`
`25`	`25`	`src/my_robot_hw_2.cpp`
`26`	`26`	`src/my_robot_hw_3.cpp`
`27`	`27`	`src/my_robot_hw_4.cpp`
	`28`	`+ src/my_robot_hw_5.cpp`
`28`	`29`	`)`
`29`	`30`	`add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})`
`30`	`31`	`target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})`
Original file line number	Diff line number	Diff line change
`@@ -94,6 +94,9 @@ TEST(CombinedRobotHWTests, combinationOk)`
`94`	`94`	`robot_hw.write(ros::Time::now(), period);`
`95`	`95`	`ej_handle = ej_interface->getHandle("test_joint2");`
`96`	`96`	`ASSERT_FLOAT_EQ(3.5, ej_handle.getCommand());`
	`97`	`+`
	`98`	`+ bool error = robot_hw.hasError();`
	`99`	`+ ASSERT_TRUE(error);`
`97`	`100`	`}`
`98`	`101`
`99`	`102`	`TEST(CombinedRobotHWTests, switchOk)`