Extend ExampleTest with counter of intermediate calls.

ros2rag.tests/src/test/01-input/example/Test.jadd

 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;

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();

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) {