YouBotBaseTestWithoutThread.hpp

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#ifndef YouBotBaseTestWithoutThread_HPP
#define YouBotBaseTestWithoutThread_HPP

#include <cppunit/TestCase.h>
#include <cppunit/extensions/HelperMacros.h>

#include <iostream>
#include <vector>
#include <signal.h>
#include "youbot/YouBotBase.hpp"
#include "youbot/YouBotManipulator.hpp"
#include "youbot/DataTrace.hpp"

using namespace youbot;

///////////////////////////////////////////////////////////////////////////////
/// A unit test for one youbot joint communicating without a thread
///////////////////////////////////////////////////////////////////////////////
class YouBotBaseTestWithoutThread : public CppUnit::TestFixture {
  CPPUNIT_TEST_SUITE(YouBotBaseTestWithoutThread);
  CPPUNIT_TEST(YouBotBaseTestWithoutThread_PositionMode);
  CPPUNIT_TEST(YouBotBaseTestWithoutThread_VelocityMode);
  CPPUNIT_TEST(YouBotBaseTestWithoutThread_CurrentMode);
  CPPUNIT_TEST_SUITE_END();

public:
  YouBotBaseTestWithoutThread();
  virtual ~YouBotBaseTestWithoutThread();

  void setUp();
  void tearDown();


  void YouBotBaseTestWithoutThread_PositionMode();
  void YouBotBaseTestWithoutThread_VelocityMode();
  void YouBotBaseTestWithoutThread_CurrentMode();

private:
  unsigned int jointNO;
  unsigned int stepStartTime;
  unsigned int durationNull;
  unsigned int overallTime;
  unsigned int startTime;
  unsigned int updateCycle;
  JointAngleSetpoint setAngle;
  JointVelocitySetpoint setVel;
  JointCurrentSetpoint currentSetpoint;
  EthercatMasterInterface* ethercatMaster;

};

#endif //YouBotBaseTestWithoutThread_HPP