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logger_tests.cpp
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logger_tests.cpp
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// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <algorithm>
#include <string>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <franka/log.h>
#include "helpers.h"
#include "logger.h"
using namespace std::string_literals; // NOLINT(google-build-using-namespace)
using namespace ::testing;
TEST(Logger, LogIsFIFO) {
size_t log_count = 5;
franka::Logger logger(log_count);
std::vector<franka::RobotState> states;
std::vector<research_interface::robot::RobotCommand> commands;
for (size_t i = 0; i < log_count; i++) {
franka::RobotState state;
randomRobotState(state);
states.push_back(state);
research_interface::robot::RobotCommand command;
randomRobotCommand(command);
commands.push_back(command);
logger.log(state, command);
}
std::vector<franka::Record> log = logger.flush();
for (size_t i = 0; i < log_count; i++) {
testRobotStatesAreEqual(states[i], log[i].state);
testRobotCommandsAreEqual(commands[i], log[i].command);
}
}
TEST(Logger, LogIsAFixedSizeRing) {
size_t ring = 5;
franka::Logger logger(ring);
std::vector<franka::RobotState> states;
std::vector<research_interface::robot::RobotCommand> commands;
size_t logs = ring * 2;
for (size_t i = 0; i < logs; i++) {
franka::RobotState state;
randomRobotState(state);
states.push_back(state);
research_interface::robot::RobotCommand command;
randomRobotCommand(command);
commands.push_back(command);
logger.log(state, command);
}
size_t expected_offset = logs - ring;
std::vector<franka::Record> log = logger.flush();
for (size_t i = 0; i < ring; i++) {
testRobotStatesAreEqual(states[i + expected_offset], log[i].state);
testRobotCommandsAreEqual(commands[i + expected_offset], log[i].command);
}
EXPECT_EQ(ring, log.size());
}
TEST(Logger, LoggerEmptyAfterFlush) {
size_t log_count = 5;
franka::Logger logger(log_count);
for (size_t i = 0; i < log_count; i++) {
logger.log(franka::RobotState{}, research_interface::robot::RobotCommand{});
}
std::vector<franka::Record> log = logger.flush();
EXPECT_EQ(log_count, log.size());
log = logger.flush();
EXPECT_EQ(0u, log.size());
}
TEST(Logger, NoLogWhenLogSizeZero) {
franka::Logger logger(0);
size_t log_count = 50;
for (size_t i = 0; i < log_count; i++) {
logger.log(franka::RobotState{}, research_interface::robot::RobotCommand{});
}
std::vector<franka::Record> log = logger.flush();
EXPECT_EQ(0u, log.size());
}
TEST(Logger, WellFormattedString) {
size_t log_count = 5;
franka::Logger logger(log_count);
for (size_t i = 0; i < log_count; i++) {
logger.log(franka::RobotState{}, research_interface::robot::RobotCommand{});
}
std::string log = franka::logToCSV(logger.flush());
EXPECT_PRED2(stringContains, log, "time");
EXPECT_PRED2(stringContains, log, "success_rate");
EXPECT_PRED2(stringContains, log, "state.q");
EXPECT_PRED2(stringContains, log, "state.q_d");
EXPECT_PRED2(stringContains, log, "state.dq");
EXPECT_PRED2(stringContains, log, "state.dq_d");
EXPECT_PRED2(stringContains, log, "state.tau_J");
EXPECT_PRED2(stringContains, log, "state.tau_ext_hat_filtered");
EXPECT_PRED2(stringContains, log, "cmd.q_d");
EXPECT_PRED2(stringContains, log, "cmd.dq_d");
EXPECT_PRED2(stringContains, log, "cmd.O_T_EE_d");
EXPECT_PRED2(stringContains, log, "cmd.O_dP_EE_d");
EXPECT_PRED2(stringContains, log, "cmd.tau_J_d");
size_t newlines_count = std::count(log.begin(), log.end(), '\n');
EXPECT_EQ(log_count + 1, newlines_count);
}
TEST(Logger, NoDuplicateColumns) {
franka::Logger logger(1);
logger.log(franka::RobotState{}, research_interface::robot::RobotCommand{});
std::string log = franka::logToCSV(logger.flush());
std::string header = splitAt(log, '\n').at(0);
std::vector<std::string> titles = splitAt(header, ',');
EXPECT_THAT(findDuplicates(titles), ElementsAre());
}
TEST(Logger, EmptyLogEmptyString) {
size_t log_count = 5;
franka::Logger logger(log_count);
std::string csv_string = franka::logToCSV(logger.flush());
EXPECT_STREQ("", csv_string.c_str());
}