From 47b8af00910d3b5274a28f658882b6ce7af038e8 Mon Sep 17 00:00:00 2001
From: rschoene <rene.schoene@tu-dresden.de>
Date: Tue, 30 Jun 2020 16:25:30 +0200
Subject: [PATCH] Extend ExampleTest with counter of intermediate calls.
---
.../src/test/01-input/example/Test.jadd | 13 +++
.../src/test/01-input/example/Test.ros2rag | 4 +
.../jastadd/ros2rag/tests/ExampleTest.java | 86 ++++++++++++++++++-
3 files changed, 102 insertions(+), 1 deletion(-)
diff --git a/ros2rag.tests/src/test/01-input/example/Test.jadd b/ros2rag.tests/src/test/01-input/example/Test.jadd
index 53f41b6..c355f57 100644
--- a/ros2rag.tests/src/test/01-input/example/Test.jadd
+++ b/ros2rag.tests/src/test/01-input/example/Test.jadd
@@ -1,4 +1,16 @@
aspect GrammarTypes {
+ public class TestCounter {
+ public static TestCounter INSTANCE = new TestCounter();
+ public int numberParseLinkState = 0;
+ public int numberSerializeRobotConfig = 0;
+ public int numberLinkStateToIntPosition = 0;
+ public int numberCreateSpeedMessage = 0;
+ public int numberInSafetyZone = 0;
+ public static void reset() {
+ TestCounter.INSTANCE = new TestCounter();
+ }
+ }
+
public class IntPosition {
private final int x, y, z;
@@ -53,6 +65,7 @@ aspect GrammarTypes {
eq RobotArm.getEndEffector().containingRobotArm() = this;
syn boolean RobotArm.isInSafetyZone() {
+ TestCounter.INSTANCE.numberInSafetyZone += 1;
for (Joint joint : getJointList()) {
if (model().getZoneModel().isInSafetyZone(joint.getCurrentPosition())) {
return true;
diff --git a/ros2rag.tests/src/test/01-input/example/Test.ros2rag b/ros2rag.tests/src/test/01-input/example/Test.ros2rag
index 6421bc8..5c92938 100644
--- a/ros2rag.tests/src/test/01-input/example/Test.ros2rag
+++ b/ros2rag.tests/src/test/01-input/example/Test.ros2rag
@@ -8,19 +8,23 @@ RobotArm.AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ;
// --- mapping definitions ---
ParseLinkState maps byte[] bytes to panda.Linkstate.PandaLinkState {:
+ TestCounter.INSTANCE.numberParseLinkState += 1;
return panda.Linkstate.PandaLinkState.parseFrom(bytes);
:}
SerializeRobotConfig maps config.Robotconfig.RobotConfig rc to byte[] {:
+ TestCounter.INSTANCE.numberSerializeRobotConfig += 1;
return rc.toByteArray();
:}
LinkStateToIntPosition maps panda.Linkstate.PandaLinkState pls to IntPosition {:
+ TestCounter.INSTANCE.numberLinkStateToIntPosition += 1;
panda.Linkstate.PandaLinkState.Position p = pls.getPos();
return IntPosition.of((int) (10 * p.getPositionX()), (int) (10 * p.getPositionY()), (int) (10 * p.getPositionZ()));
:}
CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {:
+ TestCounter.INSTANCE.numberCreateSpeedMessage += 1;
return config.Robotconfig.RobotConfig.newBuilder()
.setSpeed(speed)
.build();
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
index 7f8abd9..98d8e8b 100644
--- a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
+++ b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
@@ -4,6 +4,7 @@ import com.google.protobuf.InvalidProtocolBufferException;
import config.Robotconfig.RobotConfig;
import example.ast.*;
import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import panda.Linkstate;
@@ -30,6 +31,11 @@ public class ExampleTest extends AbstractMqttTest {
private MqttUpdater handler;
private ReceiverData data;
+ @BeforeEach
+ public void resetTestCounter() {
+ TestCounter.reset();
+ }
+
@AfterEach
public void closeConnections() {
if (handler != null) {
@@ -52,6 +58,11 @@ public class ExampleTest extends AbstractMqttTest {
// joint is currently within the safety zone, so speed should be low
TestUtils.waitForMqtt();
+ assertEquals(0, TestCounter.INSTANCE.numberParseLinkState);
+ assertEquals(0, TestCounter.INSTANCE.numberLinkStateToIntPosition);
+ assertEquals(1, TestCounter.INSTANCE.numberInSafetyZone);
+ assertEquals(1, TestCounter.INSTANCE.numberCreateSpeedMessage);
+ assertEquals(1, TestCounter.INSTANCE.numberSerializeRobotConfig);
assertEquals(1, data.numberOfConfigs);
assertFalse(data.failedLastConversion);
assertEquals(robotArm.speedLow(), data.lastConfig.getSpeed(), TestUtils.DELTA);
@@ -62,6 +73,11 @@ public class ExampleTest extends AbstractMqttTest {
// still in safety zone, so no update should have been sent
TestUtils.waitForMqtt();
assertEquals(makePosition(2, 2, 2), joint1.getCurrentPosition());
+ assertEquals(1, TestCounter.INSTANCE.numberParseLinkState);
+ assertEquals(1, TestCounter.INSTANCE.numberLinkStateToIntPosition);
+ assertEquals(2, TestCounter.INSTANCE.numberInSafetyZone);
+ assertEquals(2, TestCounter.INSTANCE.numberCreateSpeedMessage);
+ assertEquals(2, TestCounter.INSTANCE.numberSerializeRobotConfig);
assertEquals(1, data.numberOfConfigs);
assertFalse(data.failedLastConversion);
assertEquals(robotArm.speedLow(), data.lastConfig.getSpeed(), TestUtils.DELTA);
@@ -71,16 +87,40 @@ public class ExampleTest extends AbstractMqttTest {
TestUtils.waitForMqtt();
assertEquals(makePosition(3, 4, 5), joint2.getCurrentPosition());
+ assertEquals(2, TestCounter.INSTANCE.numberParseLinkState);
+ assertEquals(2, TestCounter.INSTANCE.numberLinkStateToIntPosition);
+ assertEquals(3, TestCounter.INSTANCE.numberInSafetyZone);
+ assertEquals(3, TestCounter.INSTANCE.numberCreateSpeedMessage);
+ assertEquals(3, TestCounter.INSTANCE.numberSerializeRobotConfig);
assertEquals(2, data.numberOfConfigs);
assertFalse(data.failedLastConversion);
assertEquals(robotArm.speedHigh(), data.lastConfig.getSpeed(), TestUtils.DELTA);
+ // change position of second joint, no change after mapping
+ sendData(TOPIC_JOINT2, 0.33f, 0.42f, 0.51f);
+
+ TestUtils.waitForMqtt();
+ assertEquals(makePosition(3, 4, 5), joint2.getCurrentPosition());
+ assertEquals(3, TestCounter.INSTANCE.numberParseLinkState);
+ assertEquals(3, TestCounter.INSTANCE.numberLinkStateToIntPosition);
+ assertEquals(3, TestCounter.INSTANCE.numberInSafetyZone);
+ assertEquals(3, TestCounter.INSTANCE.numberCreateSpeedMessage);
+ assertEquals(3, TestCounter.INSTANCE.numberSerializeRobotConfig);
+ assertEquals(2, data.numberOfConfigs);
+ assertFalse(data.failedLastConversion);
+
// change position of second joint, still out of the safety zone, no update should be sent
sendData(TOPIC_JOINT2, 1.3f, 2.4f, 3.5f);
TestUtils.waitForMqtt();
assertEquals(makePosition(13, 24, 35), joint2.getCurrentPosition());
+ assertEquals(4, TestCounter.INSTANCE.numberParseLinkState);
+ assertEquals(4, TestCounter.INSTANCE.numberLinkStateToIntPosition);
+ assertEquals(4, TestCounter.INSTANCE.numberInSafetyZone);
+ assertEquals(4, TestCounter.INSTANCE.numberCreateSpeedMessage);
+ assertEquals(4, TestCounter.INSTANCE.numberSerializeRobotConfig);
assertEquals(2, data.numberOfConfigs);
+ assertFalse(data.failedLastConversion);
}
@Test
@@ -90,14 +130,24 @@ public class ExampleTest extends AbstractMqttTest {
// no value should have been sent
TestUtils.waitForMqtt();
+ assertEquals(0, TestCounter.INSTANCE.numberParseLinkState);
+ assertEquals(0, TestCounter.INSTANCE.numberLinkStateToIntPosition);
+ assertEquals(1, TestCounter.INSTANCE.numberInSafetyZone);
+ assertEquals(1, TestCounter.INSTANCE.numberCreateSpeedMessage);
+ assertEquals(1, TestCounter.INSTANCE.numberSerializeRobotConfig);
assertEquals(0, data.numberOfConfigs);
// change position of the first joint out of the safety zone, second still in
sendData(TOPIC_JOINT1, 0.2f, 0.2f, 0.2f);
- // still in safety zone, first update should have been sent
+ // still in safety zone, hence, no value should have been sent
TestUtils.waitForMqtt();
assertEquals(makePosition(2, 2, 2), joint1.getCurrentPosition());
+ assertEquals(1, TestCounter.INSTANCE.numberParseLinkState);
+ assertEquals(1, TestCounter.INSTANCE.numberLinkStateToIntPosition);
+ assertEquals(2, TestCounter.INSTANCE.numberInSafetyZone);
+ assertEquals(2, TestCounter.INSTANCE.numberCreateSpeedMessage);
+ assertEquals(2, TestCounter.INSTANCE.numberSerializeRobotConfig);
assertEquals(0, data.numberOfConfigs);
// change position of second joint also out of the safety zone, now speed must be high
@@ -105,16 +155,50 @@ public class ExampleTest extends AbstractMqttTest {
TestUtils.waitForMqtt();
assertEquals(makePosition(3, 4, 5), joint2.getCurrentPosition());
+ assertEquals(2, TestCounter.INSTANCE.numberParseLinkState);
+ assertEquals(2, TestCounter.INSTANCE.numberLinkStateToIntPosition);
+ assertEquals(3, TestCounter.INSTANCE.numberInSafetyZone);
+ assertEquals(3, TestCounter.INSTANCE.numberCreateSpeedMessage);
+ assertEquals(3, TestCounter.INSTANCE.numberSerializeRobotConfig);
assertEquals(1, data.numberOfConfigs);
assertFalse(data.failedLastConversion);
assertEquals(robotArm.speedHigh(), data.lastConfig.getSpeed(), TestUtils.DELTA);
+ // change position of second joint, no change after mapping
+ sendData(TOPIC_JOINT2, 0.33f, 0.42f, 0.51f);
+
+ TestUtils.waitForMqtt();
+ assertEquals(makePosition(3, 4, 5), joint2.getCurrentPosition());
+ assertEquals(3, TestCounter.INSTANCE.numberParseLinkState);
+ assertEquals(3, TestCounter.INSTANCE.numberLinkStateToIntPosition);
+ assertEquals(3, TestCounter.INSTANCE.numberInSafetyZone);
+ assertEquals(3, TestCounter.INSTANCE.numberCreateSpeedMessage);
+ assertEquals(3, TestCounter.INSTANCE.numberSerializeRobotConfig);
+ assertEquals(1, data.numberOfConfigs);
+ assertFalse(data.failedLastConversion);
+
// change position of second joint, still out of the safety zone, no update should be sent
sendData(TOPIC_JOINT2, 1.3f, 2.4f, 3.5f);
TestUtils.waitForMqtt();
assertEquals(makePosition(13, 24, 35), joint2.getCurrentPosition());
+ assertEquals(4, TestCounter.INSTANCE.numberParseLinkState);
+ assertEquals(4, TestCounter.INSTANCE.numberLinkStateToIntPosition);
+ assertEquals(4, TestCounter.INSTANCE.numberInSafetyZone);
+ assertEquals(4, TestCounter.INSTANCE.numberCreateSpeedMessage);
+ assertEquals(4, TestCounter.INSTANCE.numberSerializeRobotConfig);
assertEquals(1, data.numberOfConfigs);
+ assertFalse(data.failedLastConversion);
+ }
+
+ @Test
+ public void testFailedConversion() throws IOException {
+ createModel();
+ setupReceiverAndConnect(false);
+
+ handler.publish(TOPIC_JOINT1, "not-a-pandaLinkState".getBytes());
+ assertEquals(0, data.numberOfConfigs);
+ assertTrue(data.failedLastConversion);
}
private void sendData(String topic, float x, float y, float z) {
--
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