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Add an unittest environment for hardware class. (#32)
* Add write_data function * Updating to use mock * Test load_config_file successfuly * Make all public method to virtual * Remove unused heade file * Refactoring to pass cpplint check * Refactoring method name
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Shota Aoki
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Jan 5, 2024
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| // Copyright 2023 RT Corporation | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include <memory> | ||
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| #include "fakeit.hpp" | ||
| #include "gtest/gtest.h" | ||
| #include "rt_manipulators_cpp/hardware.hpp" | ||
| #include "rt_manipulators_cpp/hardware_communicator.hpp" | ||
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| using fakeit::Mock; | ||
| using fakeit::Verify; | ||
| using fakeit::When; | ||
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| Mock<hardware_communicator::Communicator> create_comm_mock(void) { | ||
| Mock<hardware_communicator::Communicator> mock; | ||
| When(Method(mock, is_connected)).AlwaysReturn(true); | ||
| When(Method(mock, connect)).AlwaysReturn(true); | ||
| When(Method(mock, disconnect)).AlwaysReturn(); | ||
| When(Method(mock, make_sync_write_group)).AlwaysReturn(); | ||
| When(Method(mock, make_sync_read_group)).AlwaysReturn(); | ||
| When(Method(mock, append_id_to_sync_write_group)).AlwaysReturn(true); | ||
| When(Method(mock, append_id_to_sync_read_group)).AlwaysReturn(true); | ||
| When(Method(mock, send_sync_read_packet)).AlwaysReturn(true); | ||
| When(Method(mock, send_sync_write_packet)).AlwaysReturn(true); | ||
| When(Method(mock, get_sync_read_data)).AlwaysReturn(true); | ||
| When(Method(mock, set_sync_write_data)).AlwaysReturn(true); | ||
| When(Method(mock, write_byte_data)).AlwaysReturn(true); | ||
| When(Method(mock, write_word_data)).AlwaysReturn(true); | ||
| When(Method(mock, write_double_word_data)).AlwaysReturn(true); | ||
| When(Method(mock, read_byte_data)).AlwaysReturn(true); | ||
| When(Method(mock, read_word_data)).AlwaysReturn(true); | ||
| When(Method(mock, read_double_word_data)).AlwaysReturn(true); | ||
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| return mock; | ||
| } | ||
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| TEST(HardwareTest, load_config_file) { | ||
| // Expect the load_config_file method to be called twice and return true and false respectively. | ||
| auto mock = create_comm_mock(); | ||
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| rt_manipulators_cpp::Hardware hardware( | ||
| std::unique_ptr<hardware_communicator::Communicator>(&mock.get())); | ||
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| EXPECT_TRUE(hardware.load_config_file("../config/ok_has_dynamixel_name.yaml")); | ||
| EXPECT_FALSE(hardware.load_config_file("../config/ng_has_same_joints.yaml")); | ||
| } | ||
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| TEST(HardwareTest, connect) { | ||
| // Expect the connect method to be called twice and return true and false respectively. | ||
| auto mock = create_comm_mock(); | ||
| When(Method(mock, connect)).Return(true, false); // Return true then false. | ||
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| rt_manipulators_cpp::Hardware hardware( | ||
| std::unique_ptr<hardware_communicator::Communicator>(&mock.get())); | ||
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| EXPECT_TRUE(hardware.connect()); | ||
| EXPECT_FALSE(hardware.connect()); | ||
| } | ||
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| TEST(HardwareTest, disconnect) { | ||
| // Expect the disconnect method to be called once and never. | ||
| auto mock = create_comm_mock(); | ||
| When(Method(mock, is_connected)).Return(false).AlwaysReturn(true); // Return false then true. | ||
| When(Method(mock, disconnect)).AlwaysReturn(); | ||
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| rt_manipulators_cpp::Hardware hardware( | ||
| std::unique_ptr<hardware_communicator::Communicator>(&mock.get())); | ||
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| hardware.disconnect(); | ||
| Verify(Method(mock, disconnect)).Never(); | ||
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| hardware.disconnect(); | ||
| Verify(Method(mock, disconnect)).Once(); | ||
| } |