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vacuum_gripper_tests.cpp
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vacuum_gripper_tests.cpp
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// Copyright (c) 2019 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <atomic>
#include <functional>
#include <gmock/gmock.h>
#include <franka/exception.h>
#include <franka/vacuum_gripper.h>
#include <research_interface/vacuum_gripper/types.h>
#include "helpers.h"
#include "mock_server.h"
using ::testing::_;
using ::testing::Return;
using franka::IncompatibleVersionException;
using franka::NetworkException;
using franka::VacuumGripper;
using research_interface::vacuum_gripper::Connect;
using research_interface::vacuum_gripper::VacuumGripperState;
TEST(VacuumGripper, CannotConnectIfNoServerRunning) {
EXPECT_THROW(VacuumGripper vacuum_gripper("127.0.0.1"), NetworkException)
<< "Shut down local vacuum gripper service to run tests.";
}
TEST(VacuumGripper, CanPerformHandshake) {
VacuumGripperMockServer server;
VacuumGripper vacuum_gripper("127.0.0.1");
EXPECT_EQ(research_interface::vacuum_gripper::kVersion, vacuum_gripper.serverVersion());
}
TEST(VacuumGripper, ThrowsOnIncompatibleLibraryVersion) {
VacuumGripperMockServer server([](const Connect::Request&) {
return Connect::Response(Connect::Status::kIncompatibleLibraryVersion);
});
EXPECT_THROW(VacuumGripper("127.0.0.1"), IncompatibleVersionException);
}