Added tests for the control interface classes (#112)

This adds tests for * script sender * reverse interface * trajectory point interface
UniversalRobots · Oct 4, 2022 · fc3875a · fc3875a
1 parent 4db1d2b
commit fc3875a
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Showing 5 changed files with 789 additions and 1 deletion.
diff --git a/src/control/reverse_interface.cpp b/src/control/reverse_interface.cpp
@@ -90,7 +90,7 @@ bool ReverseInterface::writeTrajectoryControlMessage(const TrajectoryControlMess
  uint8_t* b_pos = buffer;
 
  // The first element is always the keepalive signal.
- int32_t val = htobe32(1);
+ int32_t val = htobe32(keepalive_count_);
  b_pos += append(b_pos, val);
 
  val = htobe32(toUnderlying(trajectory_action));

diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
@@ -68,3 +68,24 @@ target_include_directories(tcp_server_tests PRIVATE ${GTEST_INCLUDE_DIRS})
 target_link_libraries(tcp_server_tests PRIVATE ur_client_library::urcl ${GTEST_LIBRARIES})
 gtest_add_tests(TARGET tcp_server_tests
 )
+
+add_executable(script_sender_tests test_script_sender.cpp)
+target_compile_options(script_sender_tests PRIVATE ${CXX17_FLAG})
+target_include_directories(script_sender_tests PRIVATE ${GTEST_INCLUDE_DIRS})
+target_link_libraries(script_sender_tests PRIVATE ur_client_library::urcl ${GTEST_LIBRARIES})
+gtest_add_tests(TARGET script_sender_tests
+)
+
+add_executable(reverse_interface_tests test_reverse_interface.cpp)
+target_compile_options(reverse_interface_tests PRIVATE ${CXX17_FLAG})
+target_include_directories(reverse_interface_tests PRIVATE ${GTEST_INCLUDE_DIRS})
+target_link_libraries(reverse_interface_tests PRIVATE ur_client_library::urcl ${GTEST_LIBRARIES})
+gtest_add_tests(TARGET reverse_interface_tests
+)
+
+add_executable(trajectory_point_interface_tests test_trajectory_point_interface.cpp)
+target_compile_options(trajectory_point_interface_tests PRIVATE ${CXX17_FLAG})
+target_include_directories(trajectory_point_interface_tests PRIVATE ${GTEST_INCLUDE_DIRS})
+target_link_libraries(trajectory_point_interface_tests PRIVATE ur_client_library::urcl ${GTEST_LIBRARIES})
+gtest_add_tests(TARGET trajectory_point_interface_tests
+)