62 lines
2.1 KiB
C++
62 lines
2.1 KiB
C++
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// Copyright (c) 2023 Franka Emika GmbH
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#pragma once
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#include <memory>
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#include <string>
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#include <vector>
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#include "franka/robot_state.h"
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#include "franka_semantic_components/franka_robot_state.hpp"
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#include "gmock/gmock.h"
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// implementing and friending so we can access member variables
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class FrankaRobotStateTestFriend : public franka_semantic_components::FrankaRobotState {
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FRIEND_TEST(FrankaRobotStateTest, validate_state_names_and_size);
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FRIEND_TEST(FrankaRobotStateTest,
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given_franka_semantic_state_initialized_when_message_returned_expect_correct_values);
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FRIEND_TEST(FrankaRobotStateTest, robot_state_ptr_uncasted_correctly);
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public:
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// Use generation of interface names
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explicit FrankaRobotStateTestFriend(const std::string& name)
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: franka_semantic_components::FrankaRobotState(name) {}
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virtual ~FrankaRobotStateTestFriend() = default;
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};
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class FrankaRobotStateTest : public ::testing::Test {
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public:
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void SetUp();
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void TearDown();
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protected:
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const size_t size = 1;
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const std::string robot_name = "panda";
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const std::string franka_state_interface_name = "robot_state";
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franka::RobotState robot_state;
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franka::RobotState* robot_state_address = &robot_state;
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std::array<double, 7> joint_angles = {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0};
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std::array<double, 7> joint_velocities = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
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franka::RobotMode robot_mode = franka::RobotMode::kUserStopped;
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franka_msgs::msg::FrankaRobotState franka_robot_state_msg;
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std::unique_ptr<FrankaRobotStateTestFriend> franka_state_friend;
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std::vector<std::string> full_interface_names;
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};
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