add tests

Author: lia-viam

src/viam/sdk/tests/mocks/mock_arm.cpp

@@ -1,5 +1,6 @@
 #include <viam/sdk/tests/mocks/mock_arm.hpp>
 
+#include "mock_arm.hpp"
 #include <viam/sdk/tests/test_utils.hpp>
 
 namespace viam {
@@ -31,6 +32,13 @@ void MockArm::move_to_joint_positions(const std::vector<double>& positions,
     joint_positions = positions;
 }
 
+void MockArm::move_through_joint_positions(const std::vector<std::vector<double>>& positions,
+                                           const Arm::MoveOptions& opts,
+                                           const sdk::ProtoStruct&) {
+    move_thru_positions = positions;
+    move_opts = opts;
+}
+
 void MockArm::stop(const sdk::ProtoStruct&) {
     peek_stop_called = true;
 }

src/viam/sdk/tests/mocks/mock_arm.hpp

@@ -19,6 +19,11 @@ class MockArm : public sdk::Arm {
     std::vector<double> get_joint_positions(const sdk::ProtoStruct&) override;
     void move_to_joint_positions(const std::vector<double>& positions,
                                  const sdk::ProtoStruct&) override;
+
+    void move_through_joint_positions(const std::vector<std::vector<double>>& positions,
+                                      const Arm::MoveOptions& opts,
+                                      const sdk::ProtoStruct&) override;
+
     void stop(const sdk::ProtoStruct&) override;
     bool is_moving() override;
     sdk::ProtoStruct do_command(const sdk::ProtoStruct& command) override;
@@ -27,6 +32,8 @@ class MockArm : public sdk::Arm {
 
     sdk::pose current_location;
     std::vector<double> joint_positions;
+    std::vector<std::vector<double>> move_thru_positions;
+    sdk::Arm::MoveOptions move_opts;
     bool peek_stop_called;
     sdk::ProtoStruct peek_command;
 };

src/viam/sdk/tests/test_arm.cpp

@@ -1,14 +1,16 @@
 #define BOOST_TEST_MODULE test module test_arm
+#include <viam/sdk/components/arm.hpp>
 
+#include <boost/optional/optional_io.hpp>
 #include <boost/qvm/all.hpp>
 #include <boost/test/included/unit_test.hpp>
 
-#include <viam/sdk/components/arm.hpp>
 #include <viam/sdk/tests/mocks/mock_arm.hpp>
 #include <viam/sdk/tests/test_utils.hpp>
 
 BOOST_TEST_DONT_PRINT_LOG_VALUE(std::vector<viam::sdk::GeometryConfig>)
 BOOST_TEST_DONT_PRINT_LOG_VALUE(std::vector<double>)
+BOOST_TEST_DONT_PRINT_LOG_VALUE(std::vector<std::vector<double>>)
 BOOST_TEST_DONT_PRINT_LOG_VALUE(viam::sdk::Arm::KinematicsData)
 
 namespace viam {
@@ -49,6 +51,17 @@ BOOST_AUTO_TEST_CASE(joint_positions) {
     });
 }
 
+BOOST_AUTO_TEST_CASE(thru_joint_positions) {
+    std::shared_ptr<MockArm> mock = MockArm::get_mock_arm();
+    client_to_mock_pipeline<Arm>(mock, [&](Arm& client) {
+        std::vector<std::vector<double>> positions{{1.0, 2.0}, {3.0}};
+        client.move_through_joint_positions(positions, {1.0, 2.0}, {});
+        BOOST_CHECK_EQUAL(mock->move_thru_positions, positions);
+        BOOST_CHECK_EQUAL(mock->move_opts.max_vel_degs_per_sec, 1.0);
+        BOOST_CHECK_EQUAL(mock->move_opts.max_acc_degs_per_sec2, 2.0);
+    });
+}
+
 BOOST_AUTO_TEST_CASE(test_stop) {
     std::shared_ptr<MockArm> mock = MockArm::get_mock_arm();
     client_to_mock_pipeline<Arm>(mock, [&](Arm& client) {