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robot_impl_tests.cpp
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robot_impl_tests.cpp
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// Copyright (c) 2023 Franka Robotics GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <gtest/gtest.h>
#include <atomic>
#include <cstring>
#include <limits>
#include <robot_impl.h>
#include <logging/robot_state_logger.hpp>
#include "helpers.h"
#include "mock_server.h"
using namespace std::chrono_literals;
using namespace research_interface::robot;
using franka::ControlException;
using franka::NetworkException;
struct Robot : public ::franka::Robot {
struct Impl : public ::franka::Robot::Impl {
using ::franka::Robot::Impl::controllerRunning;
using ::franka::Robot::Impl::Impl;
using ::franka::Robot::Impl::motionGeneratorRunning;
};
};
TEST(RobotImpl, CanReceiveRobotState) {
RobotMockServer server;
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), 0);
RobotState sent_robot_state;
server.sendRandomState<RobotState>([](auto s) { randomRobotState(s); }, &sent_robot_state)
.spinOnce();
auto received_robot_state = robot.update(nullptr, nullptr);
testRobotStatesAreEqual(sent_robot_state, received_robot_state);
}
TEST(RobotImpl, CanReceiveReorderedRobotStatesCorrectly) {
RobotMockServer server;
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), 0);
server.onSendUDP<RobotState>([](RobotState& robot_state) { robot_state.message_id = 2; })
.spinOnce();
auto received_robot_state = robot.update(nullptr, nullptr);
EXPECT_EQ(2u, received_robot_state.time.toMSec());
server.onSendUDP<RobotState>([](RobotState& robot_state) { robot_state.message_id = 1; })
.onSendUDP<RobotState>([](RobotState& robot_state) { robot_state.message_id = 4; })
.onSendUDP<RobotState>([](RobotState& robot_state) { robot_state.message_id = 2; })
.onSendUDP<RobotState>([](RobotState& robot_state) { robot_state.message_id = 3; })
.spinOnce();
received_robot_state = robot.update(nullptr, nullptr);
EXPECT_EQ(4u, received_robot_state.time.toMSec());
}
TEST(RobotImpl, ThrowsTimeoutIfNoRobotStateArrives) {
RobotMockServer server;
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort, 200ms), 0);
EXPECT_THROW(robot.update(nullptr, nullptr), NetworkException);
}
TEST(RobotImpl, StopsIfControlConnectionClosed) {
std::unique_ptr<Robot::Impl> robot;
{
RobotMockServer server;
robot.reset(
new Robot::Impl(std::make_unique<franka::Network>("127.0.0.1", kCommandPort, 200ms), 0));
RobotState robot_state;
server.sendRandomState<RobotState>([](auto s) { randomRobotState(s); }, &robot_state)
.spinOnce();
testRobotStatesAreEqual(franka::convertRobotState(robot_state),
robot->update(nullptr, nullptr));
}
EXPECT_THROW(robot->update(nullptr, nullptr), NetworkException);
EXPECT_THROW(robot->writeOnce(franka::Torques{{1, 2, 3, 4, 5, 6, 7}}), NetworkException);
}
TEST(RobotImpl, CanStartMotion) {
RobotMockServer server;
Move::Deviation maximum_path_deviation{0, 1, 2};
Move::Deviation maximum_goal_pose_deviation{3, 4, 5};
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), 0);
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kJointPosition;
robot_state.controller_mode = ControllerMode::kJointImpedance;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce()
.waitForCommand<Move>([=](const Move::Request& request) {
EXPECT_EQ(Move::MotionGeneratorMode::kJointPosition, request.motion_generator_mode);
EXPECT_EQ(Move::ControllerMode::kJointImpedance, request.controller_mode);
EXPECT_EQ(maximum_path_deviation, request.maximum_path_deviation);
EXPECT_EQ(maximum_goal_pose_deviation, request.maximum_goal_pose_deviation);
return Move::Response(Move::Status::kMotionStarted);
})
.spinOnce();
EXPECT_NO_THROW(robot.startMotion(Move::ControllerMode::kJointImpedance,
Move::MotionGeneratorMode::kJointPosition,
maximum_path_deviation, maximum_goal_pose_deviation));
EXPECT_TRUE(robot.motionGeneratorRunning());
EXPECT_FALSE(robot.controllerRunning());
// Test exceptions if wrong update() overload is called
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kJointPosition;
robot_state.controller_mode = ControllerMode::kJointImpedance;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce();
EXPECT_NO_THROW(robot.update(nullptr, nullptr));
ControllerCommand control_command{};
MotionGeneratorCommand motion_command{};
EXPECT_THROW(robot.update(nullptr, &control_command), ControlException);
EXPECT_THROW(robot.update(&motion_command, &control_command), ControlException);
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kJointPosition;
robot_state.controller_mode = ControllerMode::kJointImpedance;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce()
.onReceiveRobotCommand([](const RobotCommand&) {})
.spinOnce();
EXPECT_NO_THROW(robot.update(&motion_command, nullptr));
// Test exceptions if wrong writeOnce is called
const franka::Torques control_output{{1, 2, 3, 4, 5, 6, 7}};
EXPECT_THROW(robot.writeOnce(control_output), ControlException);
// Test exceptions if wrong finishMotion is called
const uint32_t kDummyMotionID = 1;
EXPECT_THROW(robot.finishMotion(kDummyMotionID, control_output), ControlException);
}
TEST(RobotImpl, CanStartMotionWithController) {
RobotMockServer server;
Move::Deviation maximum_path_deviation{0, 1, 2};
Move::Deviation maximum_goal_pose_deviation{3, 4, 5};
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), 0);
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kCartesianPosition;
robot_state.controller_mode = ControllerMode::kExternalController;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce()
.waitForCommand<Move>([=](const Move::Request& request) {
EXPECT_EQ(Move::MotionGeneratorMode::kCartesianPosition, request.motion_generator_mode);
EXPECT_EQ(Move::ControllerMode::kExternalController, request.controller_mode);
EXPECT_EQ(maximum_path_deviation, request.maximum_path_deviation);
EXPECT_EQ(maximum_goal_pose_deviation, request.maximum_goal_pose_deviation);
return Move::Response(Move::Status::kMotionStarted);
})
.spinOnce();
EXPECT_NO_THROW(robot.startMotion(Move::ControllerMode::kExternalController,
Move::MotionGeneratorMode::kCartesianPosition,
maximum_path_deviation, maximum_goal_pose_deviation));
EXPECT_TRUE(robot.motionGeneratorRunning());
EXPECT_TRUE(robot.controllerRunning());
// Test exceptions if wrong update() overload is called
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kCartesianPosition;
robot_state.controller_mode = ControllerMode::kExternalController;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce();
EXPECT_NO_THROW(robot.update(nullptr, nullptr));
ControllerCommand control_command{};
MotionGeneratorCommand motion_command{};
EXPECT_THROW(robot.update(nullptr, &control_command), ControlException);
EXPECT_THROW(robot.update(&motion_command, nullptr), ControlException);
}
TEST(RobotImpl, CanStartExternalControllerMotion) {
Move::Deviation maximum_path_deviation{0, 1, 2};
Move::Deviation maximum_goal_pose_deviation{3, 4, 5};
RobotMockServer server;
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), 0);
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kJointVelocity;
robot_state.controller_mode = ControllerMode::kExternalController;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce()
.waitForCommand<Move>([=](const Move::Request& request) {
EXPECT_EQ(Move::MotionGeneratorMode::kJointVelocity, request.motion_generator_mode);
EXPECT_EQ(Move::ControllerMode::kExternalController, request.controller_mode);
EXPECT_EQ(maximum_path_deviation, request.maximum_path_deviation);
EXPECT_EQ(maximum_goal_pose_deviation, request.maximum_goal_pose_deviation);
return Move::Response(Move::Status::kMotionStarted);
})
.spinOnce();
EXPECT_NO_THROW(robot.startMotion(Move::ControllerMode::kExternalController,
Move::MotionGeneratorMode::kJointVelocity,
maximum_path_deviation, maximum_goal_pose_deviation));
EXPECT_TRUE(robot.motionGeneratorRunning());
EXPECT_TRUE(robot.controllerRunning());
// Test exceptions if wrong update() overload is called
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kJointVelocity;
robot_state.controller_mode = ControllerMode::kExternalController;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce();
EXPECT_NO_THROW(robot.update(nullptr, nullptr));
ControllerCommand control_command{};
MotionGeneratorCommand motion_command{};
EXPECT_THROW(robot.update(&motion_command, nullptr), ControlException);
// This should also throw, as we're running external joint velocity generator
EXPECT_THROW(robot.update(nullptr, &control_command), ControlException);
// Test no exception if writeOnce is called
franka::Torques control_output{{1, 2, 3, 4, 5, 6, 7}};
motion_command.dq_c = {0, 0, 0, 0, 0, 0, 0};
control_command.tau_J_d = control_output.tau_J;
const uint64_t kMessageID = 3;
RobotCommand sent_command{
.message_id = kMessageID, .motion = motion_command, .control = control_command};
server
.onReceiveRobotCommand([=](const RobotCommand& command) {
EXPECT_EQ(kMessageID, command.message_id);
testControllerCommandsAreEqual(sent_command.control, command.control);
})
.spinOnce();
EXPECT_NO_THROW(robot.writeOnce(control_output));
// Test exception if writeOnce with invalid input is called
EXPECT_THROW(robot.writeOnce(franka::Torques{}), std::invalid_argument);
// Test exception if finishMotion with invalid input is called
EXPECT_THROW(robot.finishMotion(kMessageID, franka::Torques{}), std::invalid_argument);
}
TEST(RobotImpl, CanNotStartMultipleMotions) {
RobotMockServer server;
Move::Deviation maximum_path_deviation{0, 1, 2};
Move::Deviation maximum_goal_pose_deviation{3, 4, 5};
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), 0);
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kJointVelocity;
robot_state.controller_mode = ControllerMode::kJointImpedance;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce()
.waitForCommand<Move>(
[](const Move::Request&) { return Move::Response(Move::Status::kMotionStarted); })
.spinOnce();
EXPECT_NO_THROW(robot.startMotion(Move::ControllerMode::kJointImpedance,
Move::MotionGeneratorMode::kJointVelocity,
maximum_path_deviation, maximum_goal_pose_deviation));
EXPECT_THROW(robot.startMotion(Move::ControllerMode::kCartesianImpedance,
Move::MotionGeneratorMode::kJointPosition, maximum_path_deviation,
maximum_goal_pose_deviation),
ControlException);
EXPECT_THROW(robot.startMotion(Move::ControllerMode::kExternalController,
Move::MotionGeneratorMode::kJointVelocity, maximum_path_deviation,
maximum_goal_pose_deviation),
ControlException);
}
TEST(RobotImpl, CanSendMotionGeneratorCommand) {
Move::Deviation maximum_path_deviation{0, 1, 2};
Move::Deviation maximum_goal_pose_deviation{3, 4, 5};
const uint32_t message_id = 682;
RobotCommand sent_command;
randomRobotCommand(sent_command);
sent_command.motion.motion_generation_finished = false;
RobotMockServer server;
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), 0);
server
.onSendUDP<RobotState>([=](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kJointVelocity;
robot_state.controller_mode = ControllerMode::kJointImpedance;
robot_state.robot_mode = RobotMode::kMove;
robot_state.message_id = message_id;
})
.spinOnce()
.waitForCommand<Move>(
[](const Move::Request&) { return Move::Response(Move::Status::kMotionStarted); })
.spinOnce();
robot.startMotion(Move::ControllerMode::kJointImpedance,
Move::MotionGeneratorMode::kJointVelocity, maximum_path_deviation,
maximum_goal_pose_deviation);
server
.onSendUDP<RobotState>([=](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kJointVelocity;
robot_state.controller_mode = ControllerMode::kJointImpedance;
robot_state.robot_mode = RobotMode::kMove;
robot_state.message_id = message_id 1;
})
.spinOnce()
.onReceiveRobotCommand([=](const RobotCommand& command) {
EXPECT_EQ(message_id, command.message_id);
testMotionGeneratorCommandsAreEqual(sent_command.motion, command.motion);
})
.spinOnce();
EXPECT_NO_THROW(robot.update(&sent_command.motion, nullptr));
}
TEST(RobotImpl, CanSendControllerCommand) {
const uint32_t message_id = 684;
RobotCommand sent_command;
randomRobotCommand(sent_command);
sent_command.motion.motion_generation_finished = false;
RobotMockServer server;
Move::Deviation maximum_path_deviation{0, 1, 2};
Move::Deviation maximum_goal_pose_deviation{3, 4, 5};
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), 0);
server
.onSendUDP<RobotState>([=](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kJointVelocity;
robot_state.controller_mode = ControllerMode::kExternalController;
robot_state.robot_mode = RobotMode::kMove;
robot_state.message_id = message_id;
})
.spinOnce()
.waitForCommand<Move>([=](const Move::Request& request) {
EXPECT_EQ(Move::MotionGeneratorMode::kJointVelocity, request.motion_generator_mode);
EXPECT_EQ(Move::ControllerMode::kExternalController, request.controller_mode);
EXPECT_EQ(maximum_path_deviation, request.maximum_path_deviation);
EXPECT_EQ(maximum_goal_pose_deviation, request.maximum_goal_pose_deviation);
return Move::Response(Move::Status::kMotionStarted);
})
.spinOnce();
EXPECT_NO_THROW(robot.startMotion(Move::ControllerMode::kExternalController,
Move::MotionGeneratorMode::kJointVelocity,
maximum_path_deviation, maximum_goal_pose_deviation));
EXPECT_TRUE(robot.motionGeneratorRunning());
EXPECT_TRUE(robot.controllerRunning());
server
.onSendUDP<RobotState>([=](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kJointVelocity;
robot_state.controller_mode = ControllerMode::kExternalController;
robot_state.robot_mode = RobotMode::kMove;
robot_state.message_id = message_id 1;
})
.spinOnce()
.onReceiveRobotCommand([=](const RobotCommand& command) {
EXPECT_EQ(message_id, command.message_id);
testControllerCommandsAreEqual(sent_command.control, command.control);
testMotionGeneratorCommandsAreEqual(sent_command.motion, command.motion);
})
.spinOnce();
EXPECT_NO_THROW(robot.update(&sent_command.motion, &sent_command.control));
}
TEST(RobotImpl, CanSendMotionGeneratorAndControlCommand) {
Move::Deviation maximum_path_deviation{0, 1, 2};
Move::Deviation maximum_goal_pose_deviation{3, 4, 5};
const uint32_t message_id = 687;
RobotCommand sent_command;
randomRobotCommand(sent_command);
sent_command.motion.motion_generation_finished = false;
RobotMockServer server;
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), 0);
server
.onSendUDP<RobotState>([=](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kCartesianPosition;
robot_state.controller_mode = ControllerMode::kExternalController;
robot_state.robot_mode = RobotMode::kMove;
robot_state.message_id = message_id;
})
.spinOnce()
.waitForCommand<Move>(
[](const Move::Request&) { return Move::Response(Move::Status::kMotionStarted); })
.spinOnce();
robot.startMotion(Move::ControllerMode::kExternalController,
Move::MotionGeneratorMode::kCartesianPosition, maximum_path_deviation,
maximum_goal_pose_deviation);
server
.onSendUDP<RobotState>([=](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kCartesianPosition;
robot_state.controller_mode = ControllerMode::kExternalController;
robot_state.robot_mode = RobotMode::kMove;
robot_state.message_id = message_id 1;
})
.spinOnce()
.onReceiveRobotCommand([=](const RobotCommand& command) {
EXPECT_EQ(message_id, command.message_id);
testMotionGeneratorCommandsAreEqual(sent_command.motion, command.motion);
testControllerCommandsAreEqual(sent_command.control, command.control);
})
.spinOnce();
EXPECT_NO_THROW(robot.update(&sent_command.motion, &sent_command.control));
}
TEST(RobotImpl, CanReceiveMotionRejected) {
Move::Deviation maximum_path_deviation{0, 1, 2};
Move::Deviation maximum_goal_pose_deviation{3, 4, 5};
RobotCommand sent_command;
randomRobotCommand(sent_command);
sent_command.motion.motion_generation_finished = false;
uint32_t move_id;
std::atomic_flag send = ATOMIC_FLAG_INIT;
send.test_and_set();
{
RobotMockServer server;
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), 0);
server
.onSendUDP<RobotState>([=](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kIdle;
robot_state.controller_mode = ControllerMode::kCartesianImpedance;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce()
.waitForCommand<Move>(
[&](const Move::Request&) { return Move::Response(Move::Status::kMotionStarted); },
&move_id)
.queueResponse<Move>(
move_id, []() { return Move::Response(Move::Status::kCommandNotPossibleRejected); })
.doForever([&]() {
bool continue_sending = send.test_and_set();
if (continue_sending) {
server.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kIdle;
robot_state.controller_mode = ControllerMode::kCartesianImpedance;
robot_state.robot_mode = RobotMode::kIdle;
});
std::this_thread::yield();
std::this_thread::sleep_for(1ms);
}
return continue_sending;
})
.spinOnce();
EXPECT_THROW(robot.startMotion(Move::ControllerMode::kCartesianImpedance,
Move::MotionGeneratorMode::kCartesianVelocity,
maximum_path_deviation, maximum_goal_pose_deviation),
ControlException);
send.clear();
EXPECT_FALSE(robot.motionGeneratorRunning());
}
}
TEST(RobotImpl, CanStopMotion) {
Move::Deviation maximum_path_deviation{0, 1, 2};
Move::Deviation maximum_goal_pose_deviation{3, 4, 5};
RobotCommand sent_command;
randomRobotCommand(sent_command);
sent_command.motion.motion_generation_finished = false;
uint32_t move_id;
RobotMockServer server;
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), 0);
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kCartesianVelocity;
robot_state.controller_mode = ControllerMode::kCartesianImpedance;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce()
.waitForCommand<Move>(
[&](const Move::Request&) { return Move::Response(Move::Status::kMotionStarted); },
&move_id)
.spinOnce();
auto id = robot.startMotion(Move::ControllerMode::kCartesianImpedance,
Move::MotionGeneratorMode::kCartesianVelocity, maximum_path_deviation,
maximum_goal_pose_deviation);
EXPECT_TRUE(robot.motionGeneratorRunning());
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kCartesianPosition;
robot_state.controller_mode = ControllerMode::kCartesianImpedance;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce()
.onReceiveRobotCommand([](const RobotCommand&) {})
.spinOnce();
robot.update(&sent_command.motion, nullptr);
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kIdle;
robot_state.controller_mode = ControllerMode::kCartesianImpedance;
robot_state.robot_mode = RobotMode::kIdle;
})
.sendResponse<Move>(move_id, []() { return Move::Response(Move::Status::kSuccess); })
.spinOnce()
.onReceiveRobotCommand([](const RobotCommand& command) {
EXPECT_TRUE(command.motion.motion_generation_finished);
})
.spinOnce();
robot.finishMotion(id, &sent_command.motion, nullptr);
EXPECT_FALSE(robot.motionGeneratorRunning());
}
TEST(RobotImpl, StopMotionErrorThrowsControlException) {
Move::Deviation maximum_path_deviation{0, 1, 2};
Move::Deviation maximum_goal_pose_deviation{3, 4, 5};
RobotCommand sent_command;
randomRobotCommand(sent_command);
sent_command.motion.motion_generation_finished = false;
uint32_t move_id;
RobotMockServer server;
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), 0);
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kCartesianVelocity;
robot_state.controller_mode = ControllerMode::kCartesianImpedance;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce()
.waitForCommand<Move>(
[&](const Move::Request&) { return Move::Response(Move::Status::kMotionStarted); },
&move_id)
.spinOnce();
auto id = robot.startMotion(Move::ControllerMode::kCartesianImpedance,
Move::MotionGeneratorMode::kCartesianVelocity, maximum_path_deviation,
maximum_goal_pose_deviation);
EXPECT_TRUE(robot.motionGeneratorRunning());
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kCartesianPosition;
robot_state.controller_mode = ControllerMode::kCartesianImpedance;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce()
.onReceiveRobotCommand([](const RobotCommand&) {})
.spinOnce();
robot.update(&sent_command.motion, nullptr);
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kIdle;
robot_state.controller_mode = ControllerMode::kCartesianImpedance;
robot_state.robot_mode = RobotMode::kIdle;
})
.sendResponse<Move>(move_id, []() { return Move::Response(Move::Status::kEmergencyAborted); })
.spinOnce()
.onReceiveRobotCommand([](const RobotCommand& command) {
EXPECT_TRUE(command.motion.motion_generation_finished);
})
.spinOnce();
EXPECT_THROW(robot.finishMotion(id, &sent_command.motion, nullptr), ControlException);
EXPECT_FALSE(robot.motionGeneratorRunning());
}
TEST(RobotImpl, CanCancelMotion) {
Move::Deviation maximum_path_deviation{0, 1, 2};
Move::Deviation maximum_goal_pose_deviation{3, 4, 5};
RobotCommand sent_command;
randomRobotCommand(sent_command);
sent_command.motion.motion_generation_finished = false;
uint32_t move_id;
RobotMockServer server;
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), 0);
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kCartesianVelocity;
robot_state.controller_mode = ControllerMode::kCartesianImpedance;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce()
.waitForCommand<Move>(
[&](const Move::Request&) { return Move::Response(Move::Status::kMotionStarted); },
&move_id)
.spinOnce();
auto id = robot.startMotion(Move::ControllerMode::kCartesianImpedance,
Move::MotionGeneratorMode::kCartesianVelocity, maximum_path_deviation,
maximum_goal_pose_deviation);
EXPECT_TRUE(robot.motionGeneratorRunning());
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kIdle;
robot_state.controller_mode = ControllerMode::kCartesianImpedance;
robot_state.robot_mode = RobotMode::kIdle;
})
.spinOnce()
.waitForCommand<StopMove>([&](const StopMove::Request&) {
server.sendResponse<Move>(move_id,
[]() { return Move::Response(Move::Status::kPreempted); });
return StopMove::Response(StopMove::Status::kSuccess);
})
.spinOnce();
robot.cancelMotion(id);
EXPECT_FALSE(robot.motionGeneratorRunning());
}
TEST(RobotImpl, CancelMotionErrorThrowsControlException) {
Move::Deviation maximum_path_deviation{0, 1, 2};
Move::Deviation maximum_goal_pose_deviation{3, 4, 5};
RobotCommand sent_command;
randomRobotCommand(sent_command);
sent_command.motion.motion_generation_finished = false;
uint32_t move_id;
RobotMockServer server;
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), 0);
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kCartesianVelocity;
robot_state.controller_mode = ControllerMode::kCartesianImpedance;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce()
.waitForCommand<Move>(
[&](const Move::Request&) { return Move::Response(Move::Status::kMotionStarted); },
&move_id)
.spinOnce();
auto id = robot.startMotion(Move::ControllerMode::kCartesianImpedance,
Move::MotionGeneratorMode::kCartesianVelocity, maximum_path_deviation,
maximum_goal_pose_deviation);
EXPECT_TRUE(robot.motionGeneratorRunning());
server
.waitForCommand<StopMove>([&](const StopMove::Request&) {
server.sendResponse<Move>(move_id,
[]() { return Move::Response(Move::Status::kPreempted); });
return StopMove::Response(StopMove::Status::kCommandNotPossibleRejected);
})
.spinOnce();
EXPECT_THROW(robot.cancelMotion(id), ControlException);
}
TEST(RobotImpl, CanStopMotionWithController) {
Move::Deviation maximum_path_deviation{0, 1, 2};
Move::Deviation maximum_goal_pose_deviation{3, 4, 5};
RobotCommand sent_command;
randomRobotCommand(sent_command);
sent_command.motion.motion_generation_finished = false;
uint32_t move_id;
RobotMockServer server;
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), 0);
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kCartesianVelocity;
robot_state.controller_mode = ControllerMode::kExternalController;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce()
.waitForCommand<Move>(
[&](const Move::Request&) { return Move::Response(Move::Status::kMotionStarted); },
&move_id)
.spinOnce();
auto id = robot.startMotion(Move::ControllerMode::kExternalController,
Move::MotionGeneratorMode::kCartesianVelocity, maximum_path_deviation,
maximum_goal_pose_deviation);
EXPECT_TRUE(robot.motionGeneratorRunning());
EXPECT_TRUE(robot.controllerRunning());
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kCartesianVelocity;
robot_state.controller_mode = ControllerMode::kExternalController;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce()
.onReceiveRobotCommand([](const RobotCommand&) {})
.spinOnce();
robot.update(&sent_command.motion, &sent_command.control);
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kIdle;
robot_state.controller_mode = ControllerMode::kJointImpedance;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce()
.sendResponse<Move>(move_id, []() { return Move::Response(Move::Status::kSuccess); })
.spinOnce();
robot.finishMotion(id, &sent_command.motion, &sent_command.control);
EXPECT_FALSE(robot.motionGeneratorRunning());
EXPECT_FALSE(robot.controllerRunning());
server
.onReceiveRobotCommand([](const RobotCommand& command) {
EXPECT_TRUE(command.motion.motion_generation_finished);
})
.spinOnce();
}
TEST(RobotImpl, ThrowsDuringMotionIfErrorReceived) {
RobotMockServer server;
Move::Deviation maximum_path_deviation{0, 1, 2};
Move::Deviation maximum_goal_pose_deviation{3, 4, 5};
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), 0);
uint32_t move_id;
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kJointPosition;
robot_state.controller_mode = ControllerMode::kJointImpedance;
robot_state.robot_mode = RobotMode::kMove;
})
.spinOnce()
.waitForCommand<Move>(
[&](const Move::Request&) { return Move::Response(Move::Status::kMotionStarted); },
&move_id)
.spinOnce();
auto id = robot.startMotion(Move::ControllerMode::kJointImpedance,
Move::MotionGeneratorMode::kJointPosition, maximum_path_deviation,
maximum_goal_pose_deviation);
EXPECT_TRUE(robot.motionGeneratorRunning());
MotionGeneratorCommand motion_command{};
server
.onSendUDP<RobotState>([](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kIdle;
robot_state.controller_mode = ControllerMode::kJointImpedance;
robot_state.reflex_reason[0] = true;
robot_state.robot_mode = RobotMode::kReflex;
})
.sendResponse<Move>(move_id, []() { return Move::Response(Move::Status::kReflexAborted); })
.spinOnce()
.onReceiveRobotCommand([](const RobotCommand&) {})
.spinOnce();
auto robot_state = robot.update(&motion_command, nullptr);
EXPECT_THROW(robot.throwOnMotionError(robot_state, id), ControlException);
EXPECT_FALSE(robot.motionGeneratorRunning());
}
TEST(RobotImpl, LogMadeIfErrorReceived) {
RobotMockServer server;
Move::Deviation maximum_path_deviation{0, 1, 2};
Move::Deviation maximum_goal_pose_deviation{3, 4, 5};
uint32_t message_id = 682;
constexpr size_t log_size = 5;
constexpr size_t commands_sent_in_loop = log_size * 2;
std::vector<RobotCommand> commands;
std::vector<RobotState> states;
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), log_size);
uint32_t move_id;
server
.onSendUDP<RobotState>([=, &states](RobotState& robot_state) {
randomRobotState(robot_state);
robot_state.controller_mode = ControllerMode::kExternalController;
robot_state.motion_generator_mode = MotionGeneratorMode::kJointPosition;
robot_state.robot_mode = RobotMode::kMove;
robot_state.message_id = message_id;
states.push_back(robot_state);
})
.spinOnce()
.waitForCommand<Move>(
[&](const Move::Request&) { return Move::Response(Move::Status::kMotionStarted); },
&move_id)
.spinOnce();
auto id = robot.startMotion(Move::ControllerMode::kExternalController,
Move::MotionGeneratorMode::kJointPosition, maximum_path_deviation,
maximum_goal_pose_deviation);
ASSERT_TRUE(robot.motionGeneratorRunning());
for (size_t i = 0; i < commands_sent_in_loop; i ) {
server
.onSendUDP<RobotState>([&](RobotState& robot_state) {
randomRobotState(robot_state);
robot_state.motion_generator_mode = MotionGeneratorMode::kJointPosition;
robot_state.controller_mode = ControllerMode::kExternalController;
robot_state.robot_mode = RobotMode::kMove;
robot_state.message_id = message_id;
states.push_back(robot_state);
})
.spinOnce()
.onReceiveRobotCommand([](const RobotCommand&) {})
.spinOnce();
RobotCommand sent_command;
randomRobotCommand(sent_command);
sent_command.motion.motion_generation_finished = false;
sent_command.message_id = message_id - 1;
robot.update(&sent_command.motion, &sent_command.control);
commands.push_back(sent_command);
}
server
.onSendUDP<RobotState>([&](RobotState& robot_state) {
randomRobotState(robot_state);
robot_state.motion_generator_mode = MotionGeneratorMode::kIdle;
robot_state.controller_mode = ControllerMode::kJointImpedance;
robot_state.reflex_reason[0] = true;
robot_state.robot_mode = RobotMode::kReflex;
robot_state.message_id = message_id;
states.push_back(robot_state);
})
.sendResponse<Move>(move_id, []() { return Move::Response(Move::Status::kReflexAborted); })
.spinOnce()
.onReceiveRobotCommand([](const RobotCommand&) {})
.spinOnce();
RobotCommand last_command;
randomRobotCommand(last_command);
last_command.message_id = message_id - 1;
auto robot_state = robot.update(&last_command.motion, &last_command.control);
commands.push_back(last_command);
try {
robot.throwOnMotionError(robot_state, id);
FAIL() << "Expected ControlException";
} catch (const ControlException& exception) {
EXPECT_EQ(log_size, exception.log.size());
for (size_t i = 0; i < log_size - 1; i ) {
// robot.startMotion calls update(), so there's one state more than there are commands
size_t start_index = commands_sent_in_loop - log_size 1;
testRobotStatesAreEqual(franka::convertRobotState(states[start_index 1 i]),
exception.log[i].state);
testRobotCommandsAreEqual(commands[start_index i], exception.log[i].command);
}
franka::Record last = exception.log.back();
testRobotStatesAreEqual(franka::convertRobotState(states.back()), last.state);
testRobotCommandsAreEqual(last_command, last.command);
} catch (...) {
FAIL() << "Expected ControlException";
}
}
TEST(RobotImpl, LogShowsOnlyTheLastMotion) {
RobotMockServer server;
Move::Deviation maximum_path_deviation{0, 1, 2};
Move::Deviation maximum_goal_pose_deviation{3, 4, 5};
uint32_t message_id = 682;
constexpr size_t log_size = 5;
constexpr size_t commands_sent_first_loop = log_size * 2;
constexpr size_t commands_sent_second_loop = log_size - 2;
std::vector<RobotCommand> commands;
std::vector<RobotState> states;
Robot::Impl robot(std::make_unique<franka::Network>("127.0.0.1", kCommandPort), log_size);
uint32_t move_id;
server
.onSendUDP<RobotState>([&](RobotState& robot_state) {
robot_state.controller_mode = ControllerMode::kExternalController;
robot_state.motion_generator_mode = MotionGeneratorMode::kJointPosition;
robot_state.robot_mode = RobotMode::kMove;
robot_state.message_id = message_id;
})
.spinOnce()
.waitForCommand<Move>(
[&](const Move::Request&) { return Move::Response(Move::Status::kMotionStarted); },
&move_id)
.spinOnce();
auto id = robot.startMotion(Move::ControllerMode::kExternalController,
Move::MotionGeneratorMode::kJointPosition, maximum_path_deviation,
maximum_goal_pose_deviation);
ASSERT_TRUE(robot.motionGeneratorRunning());
for (size_t i = 0; i < commands_sent_first_loop; i ) {
server
.onSendUDP<RobotState>([&](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kJointPosition;
robot_state.controller_mode = ControllerMode::kExternalController;
robot_state.robot_mode = RobotMode::kMove;
robot_state.message_id = message_id;
})
.spinOnce()
.onReceiveRobotCommand([](const RobotCommand&) {})
.spinOnce();
RobotCommand sent_command{};
sent_command.motion.motion_generation_finished = false;
sent_command.message_id = message_id - 1;
robot.update(&sent_command.motion, &sent_command.control);
}
server
.onSendUDP<RobotState>([&](RobotState& robot_state) {
robot_state.motion_generator_mode = MotionGeneratorMode::kIdle;
robot_state.controller_mode = ControllerMode::kJointImpedance;
robot_state.reflex_reason[8] = true;
robot_state.robot_mode = RobotMode::kReflex;
robot_state.message_id = message_id;
})
.sendResponse<Move>(move_id, []() { return Move::Response(Move::Status::kReflexAborted); })
.spinOnce()
.onReceiveRobotCommand([](const RobotCommand&) {})
.spinOnce();
RobotCommand last_command{};
last_command.message_id = message_id - 1;
auto robot_state = robot.update(&last_command.motion, &last_command.control);
EXPECT_THROW(robot.throwOnMotionError(robot_state, id), ControlException);
server
.onSendUDP<RobotState>([&](RobotState& robot_state) {
randomRobotState(robot_state);
robot_state.controller_mode = ControllerMode::kExternalController;
robot_state.motion_generator_mode = MotionGeneratorMode::kJointPosition;
robot_state.robot_mode = RobotMode::kMove;
robot_state.message_id = message_id;
states.push_back(robot_state);
})
.spinOnce()
.waitForCommand<Move>(
[&](const Move::Request&) { return Move::Response(Move::Status::kMotionStarted); },
&move_id)
.spinOnce();
id = robot.startMotion(Move::ControllerMode::kExternalController,
Move::MotionGeneratorMode::kJointPosition, maximum_path_deviation,
maximum_goal_pose_deviation);
ASSERT_TRUE(robot.motionGeneratorRunning());
for (size_t i = 0; i < commands_sent_second_loop; i ) {
server
.onSendUDP<RobotState>([&](RobotState& robot_state) {
randomRobotState(robot_state);
robot_state.motion_generator_mode = MotionGeneratorMode::kJointPosition;
robot_state.controller_mode = ControllerMode::kExternalController;
robot_state.robot_mode = RobotMode::kMove;