Update tests for updated set_standard_analog_output

UniversalRobots · Jul 19, 2024 · b19b26f · b19b26f
1 parent a57b717
commit b19b26f
Showing 1 changed file with 30 additions and 1 deletion.
diff --git a/tests/test_rtde_writer.cpp b/tests/test_rtde_writer.cpp
@@ -263,33 +263,62 @@ TEST_F(RTDEWriterTest, send_tool_digital_output)
 TEST_F(RTDEWriterTest, send_standard_analog_output)
 {
   uint8_t expected_standard_analog_output_mask = 1;
+  AnalogOutputType type = AnalogOutputType::VOLTAGE;
+
   uint8_t pin = 0;
   double send_analog_output = 1;
+  // Neglecting the type parameter should result in type current == 0
+  uint8_t expected_standard_analog_output_type = 0;
   EXPECT_TRUE(writer_->sendStandardAnalogOutput(pin, send_analog_output));
 
   waitForMessageCallback(1000);
 
   ASSERT_TRUE(dataFieldExist("standard_analog_output_0"));
   ASSERT_TRUE(dataFieldExist("standard_analog_output_1"));
   ASSERT_TRUE(dataFieldExist("standard_analog_output_mask"));
+  ASSERT_TRUE(dataFieldExist("standard_analog_output_type"));
 
   double received_analog_output = std::get<double>(parsed_data_["standard_analog_output_0"]);
   uint8_t received_standard_analog_output_mask = std::get<uint8_t>(parsed_data_["standard_analog_output_mask"]);
+  uint8_t received_standard_analog_output_type = std::get<uint8_t>(parsed_data_["standard_analog_output_type"]);
+
+  EXPECT_EQ(send_analog_output, received_analog_output);
+  EXPECT_EQ(expected_standard_analog_output_mask, received_standard_analog_output_mask);
+  EXPECT_EQ(expected_standard_analog_output_type, received_standard_analog_output_type);
+
+  pin = 0;
+  type = AnalogOutputType::VOLTAGE;
+  expected_standard_analog_output_mask = 1;
+  expected_standard_analog_output_type = 1;
+
+  EXPECT_TRUE(writer_->sendStandardAnalogOutput(pin, send_analog_output, type));
+
+  waitForMessageCallback(1000);
+
+  received_analog_output = std::get<double>(parsed_data_["standard_analog_output_0"]);
+  received_standard_analog_output_mask = std::get<uint8_t>(parsed_data_["standard_analog_output_mask"]);
+  received_standard_analog_output_type = std::get<uint8_t>(parsed_data_["standard_analog_output_type"]);
 
   EXPECT_EQ(send_analog_output, received_analog_output);
   EXPECT_EQ(expected_standard_analog_output_mask, received_standard_analog_output_mask);
+  EXPECT_EQ(expected_standard_analog_output_type, received_standard_analog_output_type);
 
   pin = 1;
+  type = AnalogOutputType::VOLTAGE;
   expected_standard_analog_output_mask = 2;
-  EXPECT_TRUE(writer_->sendStandardAnalogOutput(pin, send_analog_output));
+  expected_standard_analog_output_type = 2;
+
+  EXPECT_TRUE(writer_->sendStandardAnalogOutput(pin, send_analog_output, type));
 
   waitForMessageCallback(1000);
 
   received_analog_output = std::get<double>(parsed_data_["standard_analog_output_1"]);
   received_standard_analog_output_mask = std::get<uint8_t>(parsed_data_["standard_analog_output_mask"]);
+  received_standard_analog_output_type = std::get<uint8_t>(parsed_data_["standard_analog_output_type"]);
 
   EXPECT_EQ(send_analog_output, received_analog_output);
   EXPECT_EQ(expected_standard_analog_output_mask, received_standard_analog_output_mask);
+  EXPECT_EQ(expected_standard_analog_output_type, received_standard_analog_output_type);
 
   // Changing pins above 1, should return false.
   pin = 2;