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Merge pull request #47 in SRR/franka_ros2 from tests/robot-class to h…
…umble * commit '9f58e2a3966e70f49c7eac8c4901db97314547a0': bump up version 0.1.8 hotfix: include patched JTC back tests: implement franka hardware robot class tests
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#include "franka_robot_test.hpp" | ||
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TEST_F(FrankaRobotTests, whenInitializeTorqueInterfaceCalled_thenStartTorqueControlCalled) { | ||
EXPECT_CALL(*mock_libfranka_robot, startTorqueControl()).Times(1); | ||
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franka_hardware::Robot robot(std::move(mock_libfranka_robot), std::move(mock_model)); | ||
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robot.initializeTorqueInterface(); | ||
} | ||
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TEST_F(FrankaRobotTests, whenInitializeJointVelocityInterfaceCalled_thenStartJointVelocityControl) { | ||
EXPECT_CALL(*mock_libfranka_robot, startJointVelocityControl(testing::_)).Times(1); | ||
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franka_hardware::Robot robot(std::move(mock_libfranka_robot), std::move(mock_model)); | ||
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robot.initializeJointVelocityInterface(); | ||
} | ||
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TEST_F(FrankaRobotTests, | ||
whenInitializeJointtPositionInterfaceCalled_thenStartJointPositionControl) { | ||
EXPECT_CALL(*mock_libfranka_robot, startJointPositionControl(testing::_)).Times(1); | ||
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franka_hardware::Robot robot(std::move(mock_libfranka_robot), std::move(mock_model)); | ||
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robot.initializeJointPositionInterface(); | ||
} | ||
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TEST_F(FrankaRobotTests, | ||
whenInitializeCartesianVelocityInterfaceCalled_thenStartCartesianVelocityControl) { | ||
EXPECT_CALL(*mock_libfranka_robot, startCartesianVelocityControl(testing::_)).Times(1); | ||
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franka_hardware::Robot robot(std::move(mock_libfranka_robot), std::move(mock_model)); | ||
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robot.initializeCartesianVelocityInterface(); | ||
} | ||
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TEST_F(FrankaRobotTests, | ||
givenCartesianVelocityControlIsStarted_whenReadOnceIsCalled_expectCorrectRobotState) { | ||
franka::RobotState robot_state; | ||
franka::Duration duration; | ||
robot_state.q_d = std::array<double, 7>{1, 2, 3, 1, 2, 3, 1}; | ||
auto active_control_read_return_tuple = std::make_pair(robot_state, duration); | ||
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EXPECT_CALL(*mock_active_control, readOnce()) | ||
.WillOnce(testing::Return(active_control_read_return_tuple)); | ||
EXPECT_CALL(*mock_libfranka_robot, startCartesianVelocityControl(testing::_)) | ||
.WillOnce(testing::Return(testing::ByMove((std::move(mock_active_control))))); | ||
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franka_hardware::Robot robot(std::move(mock_libfranka_robot), std::move(mock_model)); | ||
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robot.initializeCartesianVelocityInterface(); | ||
auto actual_state = robot.readOnce(); | ||
ASSERT_EQ(robot_state.q_d, actual_state.q_d); | ||
} | ||
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TEST_F(FrankaRobotTests, | ||
givenJointControlIsNotStarted_whenReadOnceIsCalled_expectCorrectRobotState) { | ||
franka::RobotState robot_state; | ||
robot_state.q_d = std::array<double, 7>{1, 2, 3, 1, 2, 3, 1}; | ||
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EXPECT_CALL(*mock_libfranka_robot, readOnce()).WillOnce(testing::Return(robot_state)); | ||
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franka_hardware::Robot robot(std::move(mock_libfranka_robot), std::move(mock_model)); | ||
auto actual_state = robot.readOnce(); | ||
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ASSERT_EQ(robot_state.q_d, actual_state.q_d); | ||
} | ||
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TEST_F( | ||
FrankaRobotTests, | ||
givenCartesianVelocityControlIsStarted_whenWriteOnceIsCalled_expectActiveControlWriteOnceCalled) { | ||
const std::array<double, 6>& cartesian_velocities{1, 0, 0, 0, 0, 0}; | ||
const franka::CartesianVelocities expected_cartesian_velocities(cartesian_velocities); | ||
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auto expectCallFunction = [this]() { | ||
EXPECT_CALL(*mock_libfranka_robot, startCartesianVelocityControl(testing::_)) | ||
.WillOnce(testing::Return(testing::ByMove((std::move(mock_active_control))))); | ||
}; | ||
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testWriteOnce<void (franka_hardware::Robot::*)(), franka::CartesianVelocities, | ||
std::array<double, 6>>( | ||
&franka_hardware::Robot::initializeCartesianVelocityInterface, expectCallFunction, | ||
cartesian_velocities, expected_cartesian_velocities); | ||
} | ||
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TEST_F( | ||
FrankaRobotTests, | ||
givenJointPositionControlIsControlIsStarted_whenWriteOnceIsCalled_expectActiveControlWriteOnceCalled) { | ||
const std::array<double, 7>& joint_positions{1, 0, 0, 0, 0, 0, 0}; | ||
const franka::JointPositions expected_joint_positions(joint_positions); | ||
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auto expectCallFunction = [this]() { | ||
EXPECT_CALL(*mock_libfranka_robot, startJointPositionControl(testing::_)) | ||
.WillOnce(testing::Return(testing::ByMove((std::move(mock_active_control))))); | ||
}; | ||
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testWriteOnce<void (franka_hardware::Robot::*)(), franka::JointPositions, std::array<double, 7>>( | ||
&franka_hardware::Robot::initializeJointPositionInterface, expectCallFunction, | ||
joint_positions, expected_joint_positions); | ||
} | ||
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TEST_F( | ||
FrankaRobotTests, | ||
givenJointVelocityControlIsStarted_whenWriteOnceIsCalled_expectActiveControlWriteOnceCalled) { | ||
const std::array<double, 7>& joint_velocities{1, 0, 0, 0, 0, 0, 0}; | ||
const franka::JointVelocities expected_joint_velocities(joint_velocities); | ||
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const auto expectCallFunction = [this]() { | ||
EXPECT_CALL(*mock_libfranka_robot, startJointVelocityControl(testing::_)) | ||
.WillOnce(testing::Return(testing::ByMove((std::move(mock_active_control))))); | ||
}; | ||
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testWriteOnce<void (franka_hardware::Robot::*)(), franka::JointVelocities, std::array<double, 7>>( | ||
&franka_hardware::Robot::initializeJointVelocityInterface, expectCallFunction, | ||
joint_velocities, expected_joint_velocities); | ||
} | ||
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TEST_F(FrankaRobotTests, | ||
givenEffortControlIsStarted_whenWriteOnceIsCalled_expectActiveControlWriteOnceCalled) { | ||
const std::array<double, 7>& joint_torques{1, 0, 0, 0, 0, 0, 0}; | ||
// Torque rate limiter defaulted to active | ||
const franka::Torques expected_joint_torques{0.999999, 0, 0, 0, 0, 0, 0}; | ||
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auto expectCallFunction = [this]() { | ||
EXPECT_CALL(*mock_libfranka_robot, startTorqueControl()) | ||
.WillOnce(testing::Return(testing::ByMove((std::move(mock_active_control))))); | ||
}; | ||
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testWriteOnce<void (franka_hardware::Robot::*)(), franka::Torques, std::array<double, 7>>( | ||
&franka_hardware::Robot::initializeTorqueInterface, expectCallFunction, joint_torques, | ||
expected_joint_torques); | ||
} | ||
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TEST_F(FrankaRobotTests, | ||
givenControlIsNotStart_whenWriteOnceIsCalled_expectRuntimeExceptionToBeThrown) { | ||
const std::array<double, 7>& joint_torques{1, 0, 0, 0, 0, 0, 0}; | ||
const franka::Torques joint_torques_franka(joint_torques); | ||
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const std::array<double, 6>& cartesian_velocities{1, 0, 0, 0, 0, 0}; | ||
const franka::CartesianVelocities cartesian_franka(cartesian_velocities); | ||
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EXPECT_CALL(*mock_active_control, writeOnce(joint_torques_franka)).Times(0); | ||
EXPECT_CALL(*mock_active_control, writeOnce(cartesian_franka)).Times(0); | ||
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franka_hardware::Robot robot(std::move(mock_libfranka_robot), std::move(mock_model)); | ||
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EXPECT_THROW(robot.writeOnce(joint_torques), std::runtime_error); | ||
EXPECT_THROW(robot.writeOnce(cartesian_velocities), std::runtime_error); | ||
} |
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