YouBotArmTestWithoutThread.hpp

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#ifndef YouBotArmTestWithoutThread_HPP
#define YouBotArmTestWithoutThread_HPP

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

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

using namespace youbot;

///////////////////////////////////////////////////////////////////////////////
/// A unit test for the youBot arm
///////////////////////////////////////////////////////////////////////////////
class YouBotArmTestWithoutThread : public CppUnit::TestFixture {
  CPPUNIT_TEST_SUITE(YouBotArmTestWithoutThread);
  CPPUNIT_TEST(youBotArmTest);
  CPPUNIT_TEST_SUITE_END();

public:
  YouBotArmTestWithoutThread();
  virtual ~YouBotArmTestWithoutThread();

  void setUp();
  void tearDown();


  void youBotArmTest();

private:
  unsigned int overallTime;
  unsigned int startTime;
  unsigned int updateCycle;
  const int dof;
  EthercatMasterInterface* ethercatMaster;
};

#endif //YouBotArmTestWithoutThread_H