Merge pull request #184 from project-march/fix/refactor-hardware-builder

Refactor hardware builder

Author: Olavhaasie

doc.sh

@@ -29,7 +29,7 @@ roslint_cpp(${lintfiles})
 include_directories(include SYSTEM ${catkin_INCLUDE_DIRS})
 
 add_library(${PROJECT_NAME}
-    src/HardwareBuilder.cpp
+    src/hardware_builder.cpp
 )
 
 target_link_libraries(${PROJECT_NAME}
@@ -53,23 +53,21 @@ install(TARGETS ${PROJECT_NAME}
 ## Add gtest based cpp test target and link libraries
 if (CATKIN_ENABLE_TESTING)
     find_package(code_coverage REQUIRED)
-    find_package(rostest REQUIRED)
 
     if(ENABLE_COVERAGE_TESTING)
         include(CodeCoverage)
         append_coverage_compiler_flags()
     endif()
 
-    add_rostest_gtest(${PROJECT_NAME}-test
-        test/${PROJECT_NAME}.test
-        test/TestRunner.cpp
-        test/TestAllowedRobots.cpp
-        test/TestHardwareBuilderCreateEncoder.cpp
-        test/TestHardwareBuilderCreateIMotionCube.cpp
-        test/TestHardwareBuilderCreateJoint.cpp
-        test/TestHardwareBuilderCreatePowerDistributionBoard.cpp
+    catkin_add_gtest(${PROJECT_NAME}_test
+        test/test_runner.cpp
+        test/allowed_robot_test.cpp
+        test/encoder_builder_test.cpp
+        test/imc_builder_test.cpp
+        test/joint_builder_test.cpp
+        test/pdb_builder_test.cpp
     )
-    target_link_libraries(${PROJECT_NAME}-test ${catkin_LIBRARIES} ${PROJECT_NAME} gtest gmock)
+    target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES} ${PROJECT_NAME} gtest gmock)
 
     if(ENABLE_COVERAGE_TESTING)
         set(COVERAGE_EXCLUDES "*/${PROJECT_NAME}/test*")

march_hardware_builder/CMakeLists.txt

@@ -0,0 +1,120 @@
+// Copyright 2019 Project March.
+#ifndef MARCH_HARDWARE_BUILDER_ALLOWED_ROBOT_H
+#define MARCH_HARDWARE_BUILDER_ALLOWED_ROBOT_H
+#include <iostream>
+#include <string>
+#include <ros/package.h>
+
+class AllowedRobot
+{
+public:
+  enum Value : int
+  {
+    march4,
+    march3,
+    test_joint_rotational,
+    test_joint_linear,
+    pdb,
+  };
+
+  AllowedRobot() = default;
+  explicit AllowedRobot(const std::string& robot_name)
+  {
+    if (robot_name == "march4")
+    {
+      this->value = march4;
+    }
+    else if (robot_name == "march3")
+    {
+      this->value = march3;
+    }
+    else if (robot_name == "test_joint_rotational")
+    {
+      this->value = test_joint_rotational;
+    }
+    else if (robot_name == "test_joint_linear")
+    {
+      this->value = test_joint_linear;
+    }
+    else if (robot_name == "pdb")
+    {
+      this->value = pdb;
+    }
+    else
+    {
+      ROS_WARN_STREAM("Unknown robot " << robot_name);
+      this->value = AllowedRobot::test_joint_rotational;
+    }
+  }
+
+  std::string getFilePath()
+  {
+    std::string base_path = ros::package::getPath("march_hardware_builder");
+    if (this->value == AllowedRobot::march4)
+    {
+      return base_path.append("/robots/march4.yaml");
+    }
+    else if (this->value == AllowedRobot::march3)
+    {
+      return base_path.append("/robots/march3.yaml");
+    }
+    else if (this->value == AllowedRobot::test_joint_rotational)
+    {
+      return base_path.append("/robots/test_joint_rotational.yaml");
+    }
+    else if (this->value == AllowedRobot::test_joint_linear)
+    {
+      return base_path.append("/robots/test_joint_linear.yaml");
+    }
+    else if (this->value == AllowedRobot::pdb)
+    {
+      return base_path.append("/robots/pdb.yaml");
+    }
+    ROS_ERROR("Robotname not implemented. Using test_joint_rotational.yaml...");
+    return base_path.append("/robots/test_joint_rotational.yaml");
+  }
+
+  constexpr AllowedRobot(Value allowed_robot) : value(allowed_robot)
+  {
+  }
+
+  bool operator==(AllowedRobot a) const
+  {
+    return value == a.value;
+  }
+  bool operator!=(AllowedRobot a) const
+  {
+    return value != a.value;
+  }
+
+  friend std::ostream& operator<<(std::ostream& out, const AllowedRobot& c)
+  {
+    switch (c.value)
+    {
+      case march4:
+        out << "march4";
+        break;
+      case march3:
+        out << "march3";
+        break;
+      case test_joint_linear:
+        out << "test_joint_linear";
+        break;
+      case test_joint_rotational:
+        out << "test_joint_rotational";
+        break;
+      case pdb:
+        out << "pdb";
+        break;
+      default:
+        out << "(Unknown)";
+        break;
+    }
+    return out;
+  }
+
+private:
+  Value value;
+};
+
+#endif  // MARCH_HARDWARE_BUILDER_ALLOWED_ROBOT_H