diff --git a/Lexicon.md b/Lexicon.md index 89d37ab..ef71bc8 100644 --- a/Lexicon.md +++ b/Lexicon.md @@ -74,7 +74,7 @@ _Summary_:Typically used in this project when referring to a ROS Node. _Related Terms_: -_Example_: [Sonar Array Node](nodes/SonarArrayNode/) +_Example_: [Sonar Array Node](nodes/SonarArrayDriverNode/) | References | | --- | diff --git a/doc/Development/rviz.rviz b/doc/Development/rviz.rviz index 864d3c7..d40a101 100644 --- a/doc/Development/rviz.rviz +++ b/doc/Development/rviz.rviz @@ -8,7 +8,6 @@ Panels: - /Status1 - /Grid1 - /Range1 - - /Range1/Status1 Splitter Ratio: 0.5 Tree Height: 719 - Class: rviz/Selection @@ -60,7 +59,7 @@ Visualization Manager: Color: 252; 233; 79 Enabled: true Name: Range - Queue Size: 10 + Queue Size: 20 Topic: /robot/sonar Unreliable: false Value: true @@ -108,9 +107,9 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.6803983449935913 + Pitch: -0.024601440876722336 Target Frame: - Yaw: 1.220400333404541 + Yaw: 1.1404004096984863 Saved: ~ Window Geometry: Displays: diff --git a/doc/Nodes/Nodes.md b/doc/Nodes/Nodes.md index ae00f62..bc05611 100644 --- a/doc/Nodes/Nodes.md +++ b/doc/Nodes/Nodes.md @@ -2,4 +2,4 @@ # Nodes | Status | Node | | --- | --- | -| STARTED | [Sonar Array Node](SonarArrayNode/SonarArrayNode.md) | \ No newline at end of file +| STARTED | [Sonar Array Node](SonarArrayDriverNode/SonarArrayDriverNode.md) | \ No newline at end of file diff --git a/doc/Nodes/SonarArrayNode/SonarArrayNode.md b/doc/Nodes/SonarArrayNode/SonarArrayNode.md index 83a882d..5cc00fd 100644 --- a/doc/Nodes/SonarArrayNode/SonarArrayNode.md +++ b/doc/Nodes/SonarArrayNode/SonarArrayNode.md @@ -41,9 +41,9 @@ Examples: ## Software Design ### Class Diagrams ![](../../output/Legend.png) -![](../../../nodes/SonarArrayNode/driver/doc/output/SonarArrayNodeDriverClassDiagram.png) -![](../../../nodes/SonarArrayNode/doc/output/SonarArrayNodeClassDiagram.png) +![](../../../nodes/SonarArrayDriverNode/driver/doc/output/SonarArrayNodeDriverClassDiagram.png) +![](../../../nodes/SonarArrayDriverNode/doc/output/SonarArrayDriverNodeClassDiagram.png) ### Sequence Diagrams -![](../../../nodes/SonarArrayNode/driver/doc/output/SonarArrayNodeDriverSequenceDiagram.png) -![](../../../nodes/SonarArrayNode/doc/output/SonarArrayNodeSequenceDiagram.png) \ No newline at end of file +![](../../../nodes/SonarArrayDriverNode/driver/doc/output/SonarArrayNodeDriverSequenceDiagram.png) +![](../../../nodes/SonarArrayDriverNode/doc/output/SonarArrayDriverNodeSequenceDiagram.png) \ No newline at end of file diff --git a/doc/SonarArrayPackageDiagram.puml b/doc/SonarArrayPackageDiagram.puml index 5409ee2..0b6ba06 100644 --- a/doc/SonarArrayPackageDiagram.puml +++ b/doc/SonarArrayPackageDiagram.puml @@ -2,9 +2,9 @@ title Sonar Array Package Diagram package sonar_array { - class SonarArrayNode #Yellow - class SonarArrayNodeDriver #Yellow - SonarArrayNode --> SonarArrayNodeDriver + class SonarArrayDriverNode <> #Orange + class SonarArrayNodeDriver #Orange + SonarArrayDriverNode --> SonarArrayNodeDriver } @enduml \ No newline at end of file diff --git a/doc/output/SonarArrayPackageDiagram.png b/doc/output/SonarArrayPackageDiagram.png index 102b402..2d7dae6 100644 Binary files a/doc/output/SonarArrayPackageDiagram.png and b/doc/output/SonarArrayPackageDiagram.png differ diff --git a/nodes/SonarArrayNode/CMakeLists.txt b/nodes/SonarArrayDriverNode/CMakeLists.txt similarity index 100% rename from nodes/SonarArrayNode/CMakeLists.txt rename to nodes/SonarArrayDriverNode/CMakeLists.txt diff --git a/nodes/SonarArrayNode/doc/SonarArrayNodeClassDiagram.puml b/nodes/SonarArrayDriverNode/doc/SonarArrayDriverNodeClassDiagram.puml similarity index 70% rename from nodes/SonarArrayNode/doc/SonarArrayNodeClassDiagram.puml rename to nodes/SonarArrayDriverNode/doc/SonarArrayDriverNodeClassDiagram.puml index 240b21f..3236abb 100644 --- a/nodes/SonarArrayNode/doc/SonarArrayNodeClassDiagram.puml +++ b/nodes/SonarArrayDriverNode/doc/SonarArrayDriverNodeClassDiagram.puml @@ -1,5 +1,5 @@ @startuml -title Sonar Array Node Class Diagram +title Sonar Array Driver Node Class Diagram package ros { class Publisher } @@ -11,7 +11,7 @@ package sensor_msgs { class Range <<(M,#FFFF00)>> } package sonar_array { - class SonarArrayNode { + class SonarArrayDriverNode <> #Orange { +const std::string BASE_NODE_NAME +const uint16_t MAJOR_RELEASE_VERSION +const uint16_t MINOR_RELEASE_VERSION @@ -20,7 +20,7 @@ package sonar_array { +const eros::System::MainSystem DIAGNOSTIC_SYSTEM +const eros::System::SubSystem DIAGNOSTIC_SUBSYSTEM +const eros::System::Component DIAGNOSTIC_COMPONENT - +SonarArrayNodeProcess* get_process() + +SonarArrayDriverNodeProcess* get_process() +bool start() +eros::eros_diagnostic::Diagnostic finish_initialization() +bool run_loop1() @@ -37,22 +37,26 @@ package sonar_array { +system_commandAction_Callback(const eros::system_commandGoalConstPtr& goal) +command_Callback(const eros::command::ConstPtr& t_msg) - -SonarArrayNodeProcess* process; + -SonarArrayDriverNodeProcess* process; } - class SonarArrayNodeProcess { + class SonarArrayDriverNodeProcess #Orange { +eros::eros_diagnostic::Diagnostic finish_initialization() +reset() +eros::eros_diagnostic::Diagnostic update(double t_dt, double t_ros_time) +std::vector new_commandmsg(eros::command msg) +std::vector check_programvariables() +cleanup() - -SonarArrayNodeDriver driver + -ISonarArrayNodeDriver driver } + class ISonarArrayNodeDriver #LimeGreen class SonarArrayNodeDriver #LimeGreen - BaseNode <|-- SonarArrayNode - BaseNodeProcess <|-- SonarArrayNodeProcess - SonarArrayNode -> SonarArrayNodeProcess - SonarArrayNodeProcess -> SonarArrayNodeDriver + class MockSonarArrayNodeDriver #LimeGreen + BaseNode <|-- SonarArrayDriverNode + BaseNodeProcess <|-- SonarArrayDriverNodeProcess + SonarArrayDriverNode -> SonarArrayDriverNodeProcess + SonarArrayDriverNodeProcess --> ISonarArrayNodeDriver + ISonarArrayNodeDriver <|-- SonarArrayNodeDriver + ISonarArrayNodeDriver <|-- MockSonarArrayNodeDriver } @enduml \ No newline at end of file diff --git a/nodes/SonarArrayNode/doc/SonarArrayNodeSequenceDiagram.puml b/nodes/SonarArrayDriverNode/doc/SonarArrayDriverNodeSequenceDiagram.puml similarity index 74% rename from nodes/SonarArrayNode/doc/SonarArrayNodeSequenceDiagram.puml rename to nodes/SonarArrayDriverNode/doc/SonarArrayDriverNodeSequenceDiagram.puml index c0f08a4..41c5a51 100644 --- a/nodes/SonarArrayNode/doc/SonarArrayNodeSequenceDiagram.puml +++ b/nodes/SonarArrayDriverNode/doc/SonarArrayDriverNodeSequenceDiagram.puml @@ -1,8 +1,8 @@ @startuml -title Sonar Array Node Sequence Diagram +title Sonar Array Driver Node Sequence Diagram actor User as user -participant SonarArrayNode as node -participant SonarArrayNodeProcess as process +participant SonarArrayDriverNode as node +participant SonarArrayDriverNodeProcess as process participant SonarArrayNodeDriver as driver participant Logger as logger @@ -10,7 +10,7 @@ alt initialize activate node node -> node++: start() node -> node: initialize_diagnostic - node -> process++: SonarArrayNodeProcess() + node -> process++: SonarArrayDriverNodeProcess() node -> node: preinitialize_basenode() node -> process: enable_diagnostics() node -> process++: finish_initialization() @@ -28,6 +28,15 @@ end alt loops alt loop1 node -> node++: run_loop1 + node -> process++: update(0.02, now) + process -> driver++: update(0.02) + driver --> process--: diag + process --> node--: diag + node -> process++: get_sonar_data() + process -> driver++: get_sonar_data() + driver --> process--: sonar_data + process --> node--: sonar_data + node --> user: sonardata_pub.publish(sonar_data) node-- end alt loop2 @@ -57,9 +66,7 @@ alt loops node -> user: publish(latest_diagnostics) end alt run_10hz - node -> process++: update(0.1, now) - process -> driver++: update(0.1) - driver --> process-- + alt if diag.level >= NOTICE diff --git a/nodes/SonarArrayDriverNode/doc/output/SonarArrayDriverNodeClassDiagram.png b/nodes/SonarArrayDriverNode/doc/output/SonarArrayDriverNodeClassDiagram.png new file mode 100644 index 0000000..4166c47 Binary files /dev/null and b/nodes/SonarArrayDriverNode/doc/output/SonarArrayDriverNodeClassDiagram.png differ diff --git a/nodes/SonarArrayDriverNode/doc/output/SonarArrayDriverNodeSequenceDiagram.png b/nodes/SonarArrayDriverNode/doc/output/SonarArrayDriverNodeSequenceDiagram.png new file mode 100644 index 0000000..f54ed91 Binary files /dev/null and b/nodes/SonarArrayDriverNode/doc/output/SonarArrayDriverNodeSequenceDiagram.png differ diff --git a/nodes/SonarArrayNode/driver/CMakeLists.txt b/nodes/SonarArrayDriverNode/driver/CMakeLists.txt similarity index 100% rename from nodes/SonarArrayNode/driver/CMakeLists.txt rename to nodes/SonarArrayDriverNode/driver/CMakeLists.txt diff --git a/nodes/SonarArrayNode/driver/MockSonarArrayNodeDriver/CMakeLists.txt b/nodes/SonarArrayDriverNode/driver/MockSonarArrayNodeDriver/CMakeLists.txt similarity index 100% rename from nodes/SonarArrayNode/driver/MockSonarArrayNodeDriver/CMakeLists.txt rename to nodes/SonarArrayDriverNode/driver/MockSonarArrayNodeDriver/CMakeLists.txt diff --git a/nodes/SonarArrayNode/driver/MockSonarArrayNodeDriver/include/MockSonarArrayNodeDriver.h b/nodes/SonarArrayDriverNode/driver/MockSonarArrayNodeDriver/include/MockSonarArrayNodeDriver.h similarity index 100% rename from nodes/SonarArrayNode/driver/MockSonarArrayNodeDriver/include/MockSonarArrayNodeDriver.h rename to nodes/SonarArrayDriverNode/driver/MockSonarArrayNodeDriver/include/MockSonarArrayNodeDriver.h diff --git a/nodes/SonarArrayNode/driver/MockSonarArrayNodeDriver/src/CMakeLists.txt b/nodes/SonarArrayDriverNode/driver/MockSonarArrayNodeDriver/src/CMakeLists.txt similarity index 100% rename from nodes/SonarArrayNode/driver/MockSonarArrayNodeDriver/src/CMakeLists.txt rename to nodes/SonarArrayDriverNode/driver/MockSonarArrayNodeDriver/src/CMakeLists.txt diff --git a/nodes/SonarArrayNode/driver/MockSonarArrayNodeDriver/src/MockSonarArrayNodeDriver.cpp b/nodes/SonarArrayDriverNode/driver/MockSonarArrayNodeDriver/src/MockSonarArrayNodeDriver.cpp similarity index 83% rename from nodes/SonarArrayNode/driver/MockSonarArrayNodeDriver/src/MockSonarArrayNodeDriver.cpp rename to nodes/SonarArrayDriverNode/driver/MockSonarArrayNodeDriver/src/MockSonarArrayNodeDriver.cpp index fa63a3d..9e7634d 100644 --- a/nodes/SonarArrayNode/driver/MockSonarArrayNodeDriver/src/MockSonarArrayNodeDriver.cpp +++ b/nodes/SonarArrayDriverNode/driver/MockSonarArrayNodeDriver/src/MockSonarArrayNodeDriver.cpp @@ -16,6 +16,12 @@ bool MockSonarArrayNodeDriver::init(eros::eros_diagnostic::Diagnostic _diagnosti eros::eros_diagnostic::Diagnostic MockSonarArrayNodeDriver::update(double current_time_sec, double dt) { diagnostic = BaseSonarArrayNodeDriver::update(current_time_sec, dt); + for (std::size_t i = 0; i < sonars.size(); ++i) { + sonars.at(i).range = sonars.at(i).range += 0.001; + if (sonars.at(i).range > 2.0) { + sonars.at(i).range = 0.0; + } + } return diagnostic; } std::string MockSonarArrayNodeDriver::pretty(std::string mode) { diff --git a/nodes/SonarArrayNode/driver/MockSonarArrayNodeDriver/src/test/CMakeLists.txt b/nodes/SonarArrayDriverNode/driver/MockSonarArrayNodeDriver/src/test/CMakeLists.txt similarity index 100% rename from nodes/SonarArrayNode/driver/MockSonarArrayNodeDriver/src/test/CMakeLists.txt rename to nodes/SonarArrayDriverNode/driver/MockSonarArrayNodeDriver/src/test/CMakeLists.txt diff --git a/nodes/SonarArrayNode/driver/MockSonarArrayNodeDriver/src/test/test_MockSonarArrayNodeDriver.cpp b/nodes/SonarArrayDriverNode/driver/MockSonarArrayNodeDriver/src/test/test_MockSonarArrayNodeDriver.cpp similarity index 74% rename from nodes/SonarArrayNode/driver/MockSonarArrayNodeDriver/src/test/test_MockSonarArrayNodeDriver.cpp rename to nodes/SonarArrayDriverNode/driver/MockSonarArrayNodeDriver/src/test/test_MockSonarArrayNodeDriver.cpp index b493748..481cd6a 100644 --- a/nodes/SonarArrayNode/driver/MockSonarArrayNodeDriver/src/test/test_MockSonarArrayNodeDriver.cpp +++ b/nodes/SonarArrayDriverNode/driver/MockSonarArrayNodeDriver/src/test/test_MockSonarArrayNodeDriver.cpp @@ -11,19 +11,21 @@ TEST(BasicTest, TestDefinitions) { } TEST(BasicTest, TestOperation) { Logger* logger = new Logger("DEBUG", "UnitTestMockSonarArrayNodeDriver"); - MockSonarArrayNodeDriver SUT; + ISonarArrayNodeDriver* SUT = new MockSonarArrayNodeDriver(); eros::eros_diagnostic::Diagnostic diagnostic; std::vector sonars; - SUT.init(diagnostic, logger, sonars); + sonars.resize(10); + SUT->init(diagnostic, logger, sonars); double timeToRun = 10.0; double dt = 0.1; double timer = 0.0; while (timer <= timeToRun) { - auto diagnostic = SUT.update(timer, dt); + auto diagnostic = SUT->update(timer, dt); EXPECT_TRUE(diagnostic.level <= eros::Level::Type::NOTICE); + EXPECT_GT(SUT->get_sonar_data().size(), 0); - logger->log_debug(SUT.pretty()); + // logger->log_debug(SUT.pretty()); timer += dt; } diff --git a/nodes/SonarArrayNode/driver/SonarArrayNodeDriver/CMakeLists.txt b/nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/CMakeLists.txt similarity index 100% rename from nodes/SonarArrayNode/driver/SonarArrayNodeDriver/CMakeLists.txt rename to nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/CMakeLists.txt diff --git a/nodes/SonarArrayNode/driver/SonarArrayNodeDriver/include/SonarArrayBoardPacketParser.h b/nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/include/SonarArrayBoardPacketParser.h similarity index 100% rename from nodes/SonarArrayNode/driver/SonarArrayNodeDriver/include/SonarArrayBoardPacketParser.h rename to nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/include/SonarArrayBoardPacketParser.h diff --git a/nodes/SonarArrayNode/driver/SonarArrayNodeDriver/include/SonarArrayNodeDriver.h b/nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/include/SonarArrayNodeDriver.h similarity index 100% rename from nodes/SonarArrayNode/driver/SonarArrayNodeDriver/include/SonarArrayNodeDriver.h rename to nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/include/SonarArrayNodeDriver.h diff --git a/nodes/SonarArrayNode/driver/SonarArrayNodeDriver/src/CMakeLists.txt b/nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/src/CMakeLists.txt similarity index 100% rename from nodes/SonarArrayNode/driver/SonarArrayNodeDriver/src/CMakeLists.txt rename to nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/src/CMakeLists.txt diff --git a/nodes/SonarArrayNode/driver/SonarArrayNodeDriver/src/SonarArrayBoardPacketParser.cpp b/nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/src/SonarArrayBoardPacketParser.cpp similarity index 100% rename from nodes/SonarArrayNode/driver/SonarArrayNodeDriver/src/SonarArrayBoardPacketParser.cpp rename to nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/src/SonarArrayBoardPacketParser.cpp diff --git a/nodes/SonarArrayNode/driver/SonarArrayNodeDriver/src/SonarArrayNodeDriver.cpp b/nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/src/SonarArrayNodeDriver.cpp similarity index 100% rename from nodes/SonarArrayNode/driver/SonarArrayNodeDriver/src/SonarArrayNodeDriver.cpp rename to nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/src/SonarArrayNodeDriver.cpp diff --git a/nodes/SonarArrayNode/driver/SonarArrayNodeDriver/src/test/CMakeLists.txt b/nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/src/test/CMakeLists.txt similarity index 100% rename from nodes/SonarArrayNode/driver/SonarArrayNodeDriver/src/test/CMakeLists.txt rename to nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/src/test/CMakeLists.txt diff --git a/nodes/SonarArrayNode/driver/SonarArrayNodeDriver/src/test/test_SonarArrayBoardPacketParser.cpp b/nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/src/test/test_SonarArrayBoardPacketParser.cpp similarity index 100% rename from nodes/SonarArrayNode/driver/SonarArrayNodeDriver/src/test/test_SonarArrayBoardPacketParser.cpp rename to nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/src/test/test_SonarArrayBoardPacketParser.cpp diff --git a/nodes/SonarArrayNode/driver/doc/SonarArrayNodeDriverClassDiagram.puml b/nodes/SonarArrayDriverNode/driver/doc/SonarArrayNodeDriverClassDiagram.puml similarity index 100% rename from nodes/SonarArrayNode/driver/doc/SonarArrayNodeDriverClassDiagram.puml rename to nodes/SonarArrayDriverNode/driver/doc/SonarArrayNodeDriverClassDiagram.puml diff --git a/nodes/SonarArrayNode/driver/doc/SonarArrayNodeDriverSequenceDiagram.puml b/nodes/SonarArrayDriverNode/driver/doc/SonarArrayNodeDriverSequenceDiagram.puml similarity index 100% rename from nodes/SonarArrayNode/driver/doc/SonarArrayNodeDriverSequenceDiagram.puml rename to nodes/SonarArrayDriverNode/driver/doc/SonarArrayNodeDriverSequenceDiagram.puml diff --git a/nodes/SonarArrayNode/driver/doc/output/SonarArrayNodeDriverClassDiagram.png b/nodes/SonarArrayDriverNode/driver/doc/output/SonarArrayNodeDriverClassDiagram.png similarity index 100% rename from nodes/SonarArrayNode/driver/doc/output/SonarArrayNodeDriverClassDiagram.png rename to nodes/SonarArrayDriverNode/driver/doc/output/SonarArrayNodeDriverClassDiagram.png diff --git a/nodes/SonarArrayNode/driver/doc/output/SonarArrayNodeDriverSequenceDiagram.png b/nodes/SonarArrayDriverNode/driver/doc/output/SonarArrayNodeDriverSequenceDiagram.png similarity index 100% rename from nodes/SonarArrayNode/driver/doc/output/SonarArrayNodeDriverSequenceDiagram.png rename to nodes/SonarArrayDriverNode/driver/doc/output/SonarArrayNodeDriverSequenceDiagram.png diff --git a/nodes/SonarArrayNode/driver/exec/CMakeLists.txt b/nodes/SonarArrayDriverNode/driver/exec/CMakeLists.txt similarity index 100% rename from nodes/SonarArrayNode/driver/exec/CMakeLists.txt rename to nodes/SonarArrayDriverNode/driver/exec/CMakeLists.txt diff --git a/nodes/SonarArrayNode/driver/exec/exec_SonarArrayNodeDriver.cpp b/nodes/SonarArrayDriverNode/driver/exec/exec_SonarArrayNodeDriver.cpp similarity index 100% rename from nodes/SonarArrayNode/driver/exec/exec_SonarArrayNodeDriver.cpp rename to nodes/SonarArrayDriverNode/driver/exec/exec_SonarArrayNodeDriver.cpp diff --git a/nodes/SonarArrayNode/driver/include/BaseSonarArrayNodeDriver.h b/nodes/SonarArrayDriverNode/driver/include/BaseSonarArrayNodeDriver.h similarity index 100% rename from nodes/SonarArrayNode/driver/include/BaseSonarArrayNodeDriver.h rename to nodes/SonarArrayDriverNode/driver/include/BaseSonarArrayNodeDriver.h diff --git a/nodes/SonarArrayNode/driver/include/ISonarArrayNodeDriver.h b/nodes/SonarArrayDriverNode/driver/include/ISonarArrayNodeDriver.h similarity index 100% rename from nodes/SonarArrayNode/driver/include/ISonarArrayNodeDriver.h rename to nodes/SonarArrayDriverNode/driver/include/ISonarArrayNodeDriver.h diff --git a/nodes/SonarArrayNode/driver/src/BaseSonarArrayNodeDriver.cpp b/nodes/SonarArrayDriverNode/driver/src/BaseSonarArrayNodeDriver.cpp similarity index 100% rename from nodes/SonarArrayNode/driver/src/BaseSonarArrayNodeDriver.cpp rename to nodes/SonarArrayDriverNode/driver/src/BaseSonarArrayNodeDriver.cpp diff --git a/nodes/SonarArrayNode/driver/src/CMakeLists.txt b/nodes/SonarArrayDriverNode/driver/src/CMakeLists.txt similarity index 100% rename from nodes/SonarArrayNode/driver/src/CMakeLists.txt rename to nodes/SonarArrayDriverNode/driver/src/CMakeLists.txt diff --git a/nodes/SonarArrayNode/driver/src/test/CMakeLists.txt b/nodes/SonarArrayDriverNode/driver/src/test/CMakeLists.txt similarity index 100% rename from nodes/SonarArrayNode/driver/src/test/CMakeLists.txt rename to nodes/SonarArrayDriverNode/driver/src/test/CMakeLists.txt diff --git a/nodes/SonarArrayNode/driver/src/test/test_baseSonarArrayNodeDriver.cpp b/nodes/SonarArrayDriverNode/driver/src/test/test_baseSonarArrayNodeDriver.cpp similarity index 100% rename from nodes/SonarArrayNode/driver/src/test/test_baseSonarArrayNodeDriver.cpp rename to nodes/SonarArrayDriverNode/driver/src/test/test_baseSonarArrayNodeDriver.cpp diff --git a/nodes/SonarArrayDriverNode/launch/app_sonar_array.launch b/nodes/SonarArrayDriverNode/launch/app_sonar_array.launch new file mode 100644 index 0000000..00da064 --- /dev/null +++ b/nodes/SonarArrayDriverNode/launch/app_sonar_array.launch @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/nodes/SonarArrayNode/launch/sonar_array_node.launch b/nodes/SonarArrayDriverNode/launch/sonar_array_driver_node.launch similarity index 58% rename from nodes/SonarArrayNode/launch/sonar_array_node.launch rename to nodes/SonarArrayDriverNode/launch/sonar_array_driver_node.launch index 6b6a432..b48ca7c 100644 --- a/nodes/SonarArrayNode/launch/sonar_array_node.launch +++ b/nodes/SonarArrayDriverNode/launch/sonar_array_driver_node.launch @@ -1,13 +1,15 @@ + - - + + + - + diff --git a/nodes/SonarArrayDriverNode/node/CMakeLists.txt b/nodes/SonarArrayDriverNode/node/CMakeLists.txt new file mode 100644 index 0000000..b59785b --- /dev/null +++ b/nodes/SonarArrayDriverNode/node/CMakeLists.txt @@ -0,0 +1,8 @@ +add_library(sonarArrayDriverNodeProcess SonarArrayDriverNodeProcess.cpp) +target_link_libraries(sonarArrayDriverNodeProcess ${catkin_LIBRARIES} baseNodeProcess sonarArrayNodeDriver mockSonarArrayNodeDriver) + + +add_executable(sonar_array_driver_node SonarArrayDriverNode.cpp) +target_link_libraries(sonar_array_driver_node ${catkin_LIBRARIES} ${Boost_LIBRARIES} sonarArrayDriverNodeProcess baseNode) +add_dependencies(sonar_array_driver_node ${eros_EXPORTED_TARGETS}) +add_subdirectory(test) diff --git a/nodes/SonarArrayNode/node/SonarArrayNode.cpp b/nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.cpp similarity index 81% rename from nodes/SonarArrayNode/node/SonarArrayNode.cpp rename to nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.cpp index 38ee00f..3a06313 100644 --- a/nodes/SonarArrayNode/node/SonarArrayNode.cpp +++ b/nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.cpp @@ -1,18 +1,19 @@ -#include "SonarArrayNode.h" +#include "SonarArrayDriverNode.h" bool kill_node = false; namespace sonar_array { -SonarArrayNode::SonarArrayNode() +SonarArrayDriverNode::SonarArrayDriverNode() : system_command_action_server( *n.get(), read_robotnamespace() + "SystemCommandAction", - boost::bind(&SonarArrayNode::system_commandAction_Callback, this, _1), + boost::bind(&SonarArrayDriverNode::system_commandAction_Callback, this, _1), false) { system_command_action_server.start(); } -SonarArrayNode::~SonarArrayNode() { +SonarArrayDriverNode::~SonarArrayDriverNode() { } -void SonarArrayNode::system_commandAction_Callback(const eros::system_commandGoalConstPtr &goal) { +void SonarArrayDriverNode::system_commandAction_Callback( + const eros::system_commandGoalConstPtr &goal) { eros::eros_diagnostic::Diagnostic diag = process->get_root_diagnostic(); eros::system_commandResult system_commandResult_; system_command_action_server.setAborted(system_commandResult_); @@ -24,7 +25,7 @@ void SonarArrayNode::system_commandAction_Callback(const eros::system_commandGoa eros::Command::CommandString((eros::Command::Type)goal->Command)); logger->log_diagnostic(diag); } -void SonarArrayNode::command_Callback(const eros::command::ConstPtr &t_msg) { +void SonarArrayDriverNode::command_Callback(const eros::command::ConstPtr &t_msg) { eros::command cmd = eros::eros_utility::ConvertUtility::convert_fromptr(t_msg); eros::eros_diagnostic::Diagnostic diag = process->get_root_diagnostic(); diag = process->update_diagnostic( @@ -35,17 +36,17 @@ void SonarArrayNode::command_Callback(const eros::command::ConstPtr &t_msg) { eros::Command::CommandString((eros::Command::Type)cmd.Command)); logger->log_diagnostic(diag); } -bool SonarArrayNode::changenodestate_service(eros::srv_change_nodestate::Request &req, - eros::srv_change_nodestate::Response &res) { +bool SonarArrayDriverNode::changenodestate_service(eros::srv_change_nodestate::Request &req, + eros::srv_change_nodestate::Response &res) { eros::Node::State req_state = eros::Node::NodeState(req.RequestedNodeState); process->request_statechange(req_state); res.NodeState = eros::Node::NodeStateString(process->get_nodestate()); return true; } -bool SonarArrayNode::start() { +bool SonarArrayDriverNode::start() { initialize_diagnostic(DIAGNOSTIC_SYSTEM, DIAGNOSTIC_SUBSYSTEM, DIAGNOSTIC_COMPONENT); bool status = false; - process = new SonarArrayNodeProcess(); + process = new SonarArrayDriverNodeProcess(); set_basenodename(BASE_NODE_NAME); initialize_firmware( MAJOR_RELEASE_VERSION, MINOR_RELEASE_VERSION, BUILD_NUMBER, FIRMWARE_DESCRIPTION); @@ -104,18 +105,23 @@ bool SonarArrayNode::start() { status = true; return status; } -eros::eros_diagnostic::Diagnostic SonarArrayNode::read_launchparameters() { +eros::eros_diagnostic::Diagnostic SonarArrayDriverNode::read_launchparameters() { eros::eros_diagnostic::Diagnostic diag = diagnostic; command_sub = n->subscribe( - get_robotnamespace() + "SystemCommand", 10, &SonarArrayNode::command_Callback, this); + get_robotnamespace() + "SystemCommand", 10, &SonarArrayDriverNode::command_Callback, this); + bool enable_mock = false; + n->getParam("enable_mock", enable_mock); + if (enable_mock) { + process->set_enable_mock(true); + } get_logger()->log_notice("Configuration Files Loaded."); return diag; } -eros::eros_diagnostic::Diagnostic SonarArrayNode::finish_initialization() { +eros::eros_diagnostic::Diagnostic SonarArrayDriverNode::finish_initialization() { eros::eros_diagnostic::Diagnostic diag = diagnostic; std::string srv_nodestate_topic = "srv_nodestate_change"; - nodestate_srv = - n->advertiseService(srv_nodestate_topic, &SonarArrayNode::changenodestate_service, this); + nodestate_srv = n->advertiseService( + srv_nodestate_topic, &SonarArrayDriverNode::changenodestate_service, this); sonardata_pub = n->advertise(robot_namespace + "/robot/sonar", 20); diag = process->update_diagnostic(eros::eros_diagnostic::DiagnosticType::COMMUNICATIONS, eros::Level::Type::INFO, @@ -135,34 +141,34 @@ eros::eros_diagnostic::Diagnostic SonarArrayNode::finish_initialization() { "Sonar Array Initializing..."); return diag; } -bool SonarArrayNode::run_loop1() { +bool SonarArrayDriverNode::run_loop1() { process->update(0.02, ros::Time::now().toSec()); auto sonar_data = process->get_sonar_data(); for (auto sonar : sonar_data) { sonardata_pub.publish(sonar); } return true; } -bool SonarArrayNode::run_loop2() { +bool SonarArrayDriverNode::run_loop2() { return true; } -bool SonarArrayNode::run_loop3() { +bool SonarArrayDriverNode::run_loop3() { return true; } -bool SonarArrayNode::run_001hz() { +bool SonarArrayDriverNode::run_001hz() { return true; } -bool SonarArrayNode::run_01hz() { +bool SonarArrayDriverNode::run_01hz() { return true; } -bool SonarArrayNode::run_01hz_noisy() { +bool SonarArrayDriverNode::run_01hz_noisy() { eros::eros_diagnostic::Diagnostic diag = diagnostic; logger->log_debug(pretty()); return true; } -std::string SonarArrayNode::pretty() { +std::string SonarArrayDriverNode::pretty() { std::string str = process->pretty(); return str; } -bool SonarArrayNode::run_1hz() { +bool SonarArrayDriverNode::run_1hz() { std::vector latest_diagnostics = process->get_latest_diagnostics(); for (std::size_t i = 0; i < latest_diagnostics.size(); ++i) { @@ -188,15 +194,15 @@ bool SonarArrayNode::run_1hz() { } return true; } -bool SonarArrayNode::run_10hz() { +bool SonarArrayDriverNode::run_10hz() { update_diagnostics(process->get_diagnostics()); update_ready_to_arm(process->get_ready_to_arm()); return true; } -void SonarArrayNode::thread_loop() { +void SonarArrayDriverNode::thread_loop() { while (kill_node == false) { ros::Duration(1.0).sleep(); } } -void SonarArrayNode::cleanup() { +void SonarArrayDriverNode::cleanup() { process->request_statechange(eros::Node::State::FINISHED); process->cleanup(); delete process; @@ -206,7 +212,7 @@ void SonarArrayNode::cleanup() { } // namespace sonar_array // LCOV_EXCL_START void signalinterrupt_handler(int sig) { - printf("Killing SonarArrayNode with Signal: %d\n", sig); + printf("Killing SonarArrayDriverNode with Signal: %d\n", sig); kill_node = true; exit(0); } @@ -215,8 +221,8 @@ void signalinterrupt_handler(int sig) { int main(int argc, char **argv) { signal(SIGINT, signalinterrupt_handler); signal(SIGTERM, signalinterrupt_handler); - ros::init(argc, argv, "sonar_array_node"); - sonar_array::SonarArrayNode *node = new sonar_array::SonarArrayNode(); + ros::init(argc, argv, "sonar_array_driver_node"); + sonar_array::SonarArrayDriverNode *node = new sonar_array::SonarArrayDriverNode(); bool status = node->start(); if (status == false) { // No practical way to unit test @@ -224,7 +230,7 @@ int main(int argc, char **argv) { return EXIT_FAILURE; // LCOV_EXCL_STOP } - std::thread thread(&sonar_array::SonarArrayNode::thread_loop, node); + std::thread thread(&sonar_array::SonarArrayDriverNode::thread_loop, node); while ((status == true) and (kill_node == false)) { status = node->update(node->get_process()->get_nodestate()); } diff --git a/nodes/SonarArrayNode/node/SonarArrayNode.h b/nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.h similarity index 81% rename from nodes/SonarArrayNode/node/SonarArrayNode.h rename to nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.h index a1af8d3..5e9c440 100644 --- a/nodes/SonarArrayNode/node/SonarArrayNode.h +++ b/nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.h @@ -1,5 +1,5 @@ /** - * @file SonarArrayNode.h + * @file SonarArrayDriverNode.h * @author your name (you@domain.com) * @brief * @version 0.1 @@ -16,17 +16,17 @@ // Project #include -#include "SonarArrayNodeProcess.h" +#include "SonarArrayDriverNodeProcess.h" namespace sonar_array { /** - * @brief SonarArrayNode + * @brief SonarArrayDriverNode * */ -class SonarArrayNode : public eros::BaseNode +class SonarArrayDriverNode : public eros::BaseNode { public: /*! \brief The base name of the Node.*/ - const std::string BASE_NODE_NAME = "sonar_array_node"; + const std::string BASE_NODE_NAME = "sonar_array_driver_node"; /*! \brief The Major Release Version of the Node.*/ const uint16_t MAJOR_RELEASE_VERSION = 0; @@ -35,10 +35,10 @@ class SonarArrayNode : public eros::BaseNode const uint16_t MINOR_RELEASE_VERSION = 0; /*! \brief The Build Number of the Node.*/ - const uint16_t BUILD_NUMBER = 1; + const uint16_t BUILD_NUMBER = 3; /*! \brief A Description of the Firmware.*/ - const std::string FIRMWARE_DESCRIPTION = "Latest Rev: 17-Mar-2025"; + const std::string FIRMWARE_DESCRIPTION = "Latest Rev: 19-Mar-2025"; /*! \brief What System this Node falls under.*/ const eros::System::MainSystem DIAGNOSTIC_SYSTEM = eros::System::MainSystem::ROVER; @@ -48,9 +48,9 @@ class SonarArrayNode : public eros::BaseNode /*! \brief What Component this Node falls under.*/ const eros::System::Component DIAGNOSTIC_COMPONENT = eros::System::Component::GPIO; - SonarArrayNode(); - ~SonarArrayNode(); - SonarArrayNodeProcess* get_process() { + SonarArrayDriverNode(); + ~SonarArrayDriverNode(); + SonarArrayDriverNodeProcess* get_process() { return process; } bool start(); @@ -74,7 +74,7 @@ class SonarArrayNode : public eros::BaseNode private: eros::eros_diagnostic::Diagnostic read_launchparameters(); - SonarArrayNodeProcess* process; + SonarArrayDriverNodeProcess* process; actionlib::SimpleActionServer system_command_action_server; ros::Publisher sonardata_pub; diff --git a/nodes/SonarArrayNode/node/SonarArrayNodeProcess.cpp b/nodes/SonarArrayDriverNode/node/SonarArrayDriverNodeProcess.cpp similarity index 52% rename from nodes/SonarArrayNode/node/SonarArrayNodeProcess.cpp rename to nodes/SonarArrayDriverNode/node/SonarArrayDriverNodeProcess.cpp index 1c71687..1f25ec2 100644 --- a/nodes/SonarArrayNode/node/SonarArrayNodeProcess.cpp +++ b/nodes/SonarArrayDriverNode/node/SonarArrayDriverNodeProcess.cpp @@ -1,54 +1,65 @@ -#include "SonarArrayNodeProcess.h" +#include "SonarArrayDriverNodeProcess.h" namespace sonar_array { -SonarArrayNodeProcess::SonarArrayNodeProcess() { +SonarArrayDriverNodeProcess::SonarArrayDriverNodeProcess() { } -SonarArrayNodeProcess::~SonarArrayNodeProcess() { +SonarArrayDriverNodeProcess::~SonarArrayDriverNodeProcess() { delete driver; delete logger; } -eros::eros_diagnostic::Diagnostic SonarArrayNodeProcess::finish_initialization() { +eros::eros_diagnostic::Diagnostic SonarArrayDriverNodeProcess::finish_initialization() { eros::eros_diagnostic::Diagnostic diag = get_root_diagnostic(); - /* Support during AB#1452 - driver = new SonarArrayNodeDriver(); - // Clean up this during AB#1491 std::vector sonars; - sonars.resize(1); + + if (enable_mock) { + sonars.resize(20); + logger->log_warn("Enabling Mock Sonary Array Node Driver."); + driver = new MockSonarArrayNodeDriver(); + } + else { + sonars.resize(1); + driver = new SonarArrayNodeDriver(); + } + + // Clean up this during AB#1491 + for (std::size_t i = 0; i < sonars.size(); ++i) { sonars.at(i).radiation_type = sensor_msgs::Range::ULTRASOUND; sonars.at(i).field_of_view = 30.0 * M_PI / 180.0; sonars.at(i).min_range = 0.02; // meters sonars.at(i).max_range = 2.0; // meters - sonars.at(i).header.frame_id = "sonar_array"; + sonars.at(i).header.frame_id = "sonar" + std::to_string(i); } driver->init(diag, logger, sonars); driver->set_comm_device("/dev/ttyUSB0", B115200); - */ + return diag; } -void SonarArrayNodeProcess::reset() { +void SonarArrayDriverNodeProcess::reset() { } -eros::eros_diagnostic::Diagnostic SonarArrayNodeProcess::update(double t_dt, double t_ros_time) { +eros::eros_diagnostic::Diagnostic SonarArrayDriverNodeProcess::update(double t_dt, + double t_ros_time) { eros::eros_diagnostic::Diagnostic diag = base_update(t_dt, t_ros_time); // Support during AB#1452 - // diag = driver->update(t_ros_time, t_dt); + diag = driver->update(t_ros_time, t_dt); return diag; } -std::vector SonarArrayNodeProcess::new_commandmsg( +std::vector SonarArrayDriverNodeProcess::new_commandmsg( eros::command msg) { (void)msg; std::vector diag_list; logger->log_warn("No Command Messages Supported at this time."); return diag_list; } -std::vector SonarArrayNodeProcess::check_programvariables() { +std::vector +SonarArrayDriverNodeProcess::check_programvariables() { std::vector diag_list; logger->log_warn("No Program Variables Checked."); return diag_list; } -std::string SonarArrayNodeProcess::pretty() { +std::string SonarArrayDriverNodeProcess::pretty() { std::string str = "Node State: " + eros::Node::NodeStateString(get_nodestate()); return str; } diff --git a/nodes/SonarArrayNode/node/SonarArrayNodeProcess.h b/nodes/SonarArrayDriverNode/node/SonarArrayDriverNodeProcess.h similarity index 75% rename from nodes/SonarArrayNode/node/SonarArrayNodeProcess.h rename to nodes/SonarArrayDriverNode/node/SonarArrayDriverNodeProcess.h index b8b79cf..811bbd7 100644 --- a/nodes/SonarArrayNode/node/SonarArrayNodeProcess.h +++ b/nodes/SonarArrayDriverNode/node/SonarArrayDriverNodeProcess.h @@ -13,17 +13,21 @@ #include #include "ISonarArrayNodeDriver.h" +#include "MockSonarArrayNodeDriver.h" #include "SonarArrayNodeDriver.h" namespace sonar_array { -/*! \class SonarArrayNodeProcess SonarArrayNodeProcess.h "SonarArrayNodeProcess.h" +/*! \class SonarArrayDriverNodeProcess SonarArrayDriverNodeProcess.h "SonarArrayDriverNodeProcess.h" * \brief */ -class SonarArrayNodeProcess : public eros::BaseNodeProcess +class SonarArrayDriverNodeProcess : public eros::BaseNodeProcess { public: - SonarArrayNodeProcess(); - ~SonarArrayNodeProcess(); + SonarArrayDriverNodeProcess(); + ~SonarArrayDriverNodeProcess(); eros::eros_diagnostic::Diagnostic finish_initialization(); + void set_enable_mock(bool v) { + enable_mock = v; + } void reset(); eros::eros_diagnostic::Diagnostic update(double t_dt, double t_ros_time); std::vector new_commandmsg(eros::command msg); @@ -44,6 +48,7 @@ class SonarArrayNodeProcess : public eros::BaseNodeProcess std::string pretty() override; private: + bool enable_mock{false}; ISonarArrayNodeDriver* driver; // Enable during AB#1452 }; } // namespace sonar_array diff --git a/nodes/SonarArrayDriverNode/node/test/CMakeLists.txt b/nodes/SonarArrayDriverNode/node/test/CMakeLists.txt new file mode 100644 index 0000000..03f067f --- /dev/null +++ b/nodes/SonarArrayDriverNode/node/test/CMakeLists.txt @@ -0,0 +1,10 @@ +catkin_add_gtest(test_sonarArrayDriverNodeProcess test_SonarArrayDriverNodeProcess.cpp) +target_link_libraries(test_sonarArrayDriverNodeProcess ${catkin_LIBRARIES} ${Boost_LIBRARIES} logger sonarArrayDriverNodeProcess) +add_dependencies(test_sonarArrayDriverNodeProcess eros_generate_messages_cpp) + +add_rostest_gtest(test_sonarArrayDriverNode + test_SonarArrayDriverNode.test + test_SonarArrayDriverNode.cpp +) +add_dependencies(test_sonarArrayDriverNode sonar_array_driver_node) +target_link_libraries(test_sonarArrayDriverNode ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${GTEST_LIBRARIES} logger) diff --git a/nodes/SonarArrayNode/node/test/test_SonarArrayNode.cpp b/nodes/SonarArrayDriverNode/node/test/test_SonarArrayDriverNode.cpp similarity index 89% rename from nodes/SonarArrayNode/node/test/test_SonarArrayNode.cpp rename to nodes/SonarArrayDriverNode/node/test/test_SonarArrayDriverNode.cpp index 035b2c2..48edb45 100644 --- a/nodes/SonarArrayNode/node/test/test_SonarArrayNode.cpp +++ b/nodes/SonarArrayDriverNode/node/test/test_SonarArrayDriverNode.cpp @@ -3,12 +3,12 @@ #include #include -#include "../SonarArrayNode.h" +#include "../SonarArrayDriverNode.h" using namespace eros; std::string robot_namespace = "/test/"; -std::string unittest_nodename = "sonar_array_node"; +std::string unittest_nodename = "sonar_array_driver_node"; typedef actionlib::SimpleActionClient CommandActionClient; uint64_t heartbeat_count = 0; eros::heartbeat latest_heartbeat; @@ -16,9 +16,9 @@ void heartbeat_Callback(const eros::heartbeat& msg) { latest_heartbeat = msg; heartbeat_count++; } -TEST(SonarArrayNode, TestBasics) { +TEST(SonarArrayDriverNode, TestBasics) { ros::NodeHandle nh("~"); - Logger* logger = new Logger("DEBUG", "test_SonarArrayNode"); + Logger* logger = new Logger("DEBUG", "test_SonarArrayDriverNode"); logger->enable_ROS_logger(); std::string heartbeat_topic = robot_namespace + unittest_nodename + "/heartbeat"; ros::Subscriber sub = nh.subscribe(heartbeat_topic, 100, &heartbeat_Callback); @@ -26,7 +26,7 @@ TEST(SonarArrayNode, TestBasics) { EXPECT_NE(ros::topic::waitForMessage(heartbeat_topic, ros::Duration(10)), nullptr); EXPECT_EQ(1, sub.getNumPublishers()); - sleep(1.0); // Wait for SonarArrayNode to Start. + sleep(1.0); // Wait for SonarArrayDriverNode to Start. EXPECT_TRUE(heartbeat_count > 0); logger->log_warn("Testing Unsupported Commands..."); @@ -72,7 +72,7 @@ TEST(SonarArrayNode, TestBasics) { } int main(int argc, char** argv) { testing::InitGoogleTest(&argc, argv); - ros::init(argc, argv, "test_SonarArrayNode"); + ros::init(argc, argv, "test_SonarArrayDriverNode"); ros::AsyncSpinner spinner(1); spinner.start(); int ret = RUN_ALL_TESTS(); diff --git a/nodes/SonarArrayNode/node/test/test_SonarArrayNode.test b/nodes/SonarArrayDriverNode/node/test/test_SonarArrayDriverNode.test similarity index 50% rename from nodes/SonarArrayNode/node/test/test_SonarArrayNode.test rename to nodes/SonarArrayDriverNode/node/test/test_SonarArrayDriverNode.test index 2d16dd0..e0cc61f 100644 --- a/nodes/SonarArrayNode/node/test/test_SonarArrayNode.test +++ b/nodes/SonarArrayDriverNode/node/test/test_SonarArrayDriverNode.test @@ -2,10 +2,11 @@ - + + - + diff --git a/nodes/SonarArrayNode/node/test/test_SonarArrayNodeProcess.cpp b/nodes/SonarArrayDriverNode/node/test/test_SonarArrayDriverNodeProcess.cpp similarity index 79% rename from nodes/SonarArrayNode/node/test/test_SonarArrayNodeProcess.cpp rename to nodes/SonarArrayDriverNode/node/test/test_SonarArrayDriverNodeProcess.cpp index a991151..8d7c6f9 100644 --- a/nodes/SonarArrayNode/node/test/test_SonarArrayNodeProcess.cpp +++ b/nodes/SonarArrayDriverNode/node/test/test_SonarArrayDriverNodeProcess.cpp @@ -1,5 +1,5 @@ /** - * @file test_SonarArrayNodeProcess.cpp + * @file test_SonarArrayDriverNodeProcess.cpp * @author your name (you@domain.com) * @brief * @version 0.1 @@ -11,24 +11,25 @@ #include #include -#include "../SonarArrayNodeProcess.h" +#include "../SonarArrayDriverNodeProcess.h" using namespace eros; namespace sonar_array { -class SonarArrayNodeProcessTester : public SonarArrayNodeProcess +class SonarArrayDriverNodeProcessTester : public SonarArrayDriverNodeProcess { public: - SonarArrayNodeProcessTester() { + SonarArrayDriverNodeProcessTester() { + set_enable_mock(true); } - ~SonarArrayNodeProcessTester() { + ~SonarArrayDriverNodeProcessTester() { } }; } // namespace sonar_array using namespace sonar_array; TEST(BasicTest, TestOperation) { - Logger* logger = new Logger("DEBUG", "UnitTestSonarArrayNodeProcess"); - SonarArrayNodeProcessTester* tester = new SonarArrayNodeProcessTester; - tester->initialize("UnitTestSonarArrayNodeProcess", - "UnitTestSonarArrayNodeProcess", + Logger* logger = new Logger("DEBUG", "UnitTestSonarArrayDriverNodeProcess"); + SonarArrayDriverNodeProcessTester* tester = new SonarArrayDriverNodeProcessTester; + tester->initialize("UnitTestSonarArrayDriverNodeProcess", + "UnitTestSonarArrayDriverNodeProcess", "MyHost", System::MainSystem::SIMROVER, System::SubSystem::ENTIRE_SYSTEM, diff --git a/nodes/SonarArrayNode/doc/output/SonarArrayNodeClassDiagram.png b/nodes/SonarArrayNode/doc/output/SonarArrayNodeClassDiagram.png deleted file mode 100644 index 649bf54..0000000 Binary files a/nodes/SonarArrayNode/doc/output/SonarArrayNodeClassDiagram.png and /dev/null differ diff --git a/nodes/SonarArrayNode/doc/output/SonarArrayNodeSequenceDiagram.png b/nodes/SonarArrayNode/doc/output/SonarArrayNodeSequenceDiagram.png deleted file mode 100644 index b6db542..0000000 Binary files a/nodes/SonarArrayNode/doc/output/SonarArrayNodeSequenceDiagram.png and /dev/null differ diff --git a/nodes/SonarArrayNode/node/CMakeLists.txt b/nodes/SonarArrayNode/node/CMakeLists.txt deleted file mode 100644 index bba96a5..0000000 --- a/nodes/SonarArrayNode/node/CMakeLists.txt +++ /dev/null @@ -1,8 +0,0 @@ -add_library(sonarArrayNodeProcess SonarArrayNodeProcess.cpp) -target_link_libraries(sonarArrayNodeProcess ${catkin_LIBRARIES} baseNodeProcess sonarArrayNodeDriver ) - - -add_executable(sonar_array_node SonarArrayNode.cpp) -target_link_libraries(sonar_array_node ${catkin_LIBRARIES} ${Boost_LIBRARIES} sonarArrayNodeProcess baseNode) -add_dependencies(sonar_array_node ${eros_EXPORTED_TARGETS}) -add_subdirectory(test) diff --git a/nodes/SonarArrayNode/node/test/CMakeLists.txt b/nodes/SonarArrayNode/node/test/CMakeLists.txt deleted file mode 100644 index d386ad1..0000000 --- a/nodes/SonarArrayNode/node/test/CMakeLists.txt +++ /dev/null @@ -1,10 +0,0 @@ -catkin_add_gtest(test_sonarArrayNodeProcess test_SonarArrayNodeProcess.cpp) -target_link_libraries(test_sonarArrayNodeProcess ${catkin_LIBRARIES} ${Boost_LIBRARIES} logger sonarArrayNodeProcess) -add_dependencies(test_sonarArrayNodeProcess eros_generate_messages_cpp) - -add_rostest_gtest(test_sonarArrayNode - test_SonarArrayNode.test - test_SonarArrayNode.cpp -) -add_dependencies(test_sonarArrayNode sonar_array_node) -target_link_libraries(test_sonarArrayNode ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${GTEST_LIBRARIES} logger)