[ICATHALES-415] DTT

test/config_PIController.txt

@@ -25,16 +25,10 @@ model=(c)MOCK, SIMULATOR, 111111111, 1.0.0.0
 servo=1
 pos=10
 vel=0.500000
-ERR?
-ERR?
-ERR?
 accel=2.000000
 decel=2.000000
 moving=0
 ron=1
-ERR?
-ERR?
-ERR?
 err=0
 limit_switch=0x9004
 is_initialized=1

test/result-test-picontroller_dtt.txt

@@ -52,7 +52,7 @@ Action: WAIT state param: ['0.1'] - Check: DIFF value: MOVING delta:
   last raw result: ON
   last check result: True
 
-Action: WRITE Velocity param: ['2.0'] - No check
+Action: WRITE velocity param: ['2.0'] - No check
   raw result: OK
 
 Action: WRITE acceleration param: ['2.0'] - No check
@@ -187,9 +187,46 @@ Action: READ forwardLimitSwitch param: [''] - Check: EQUAL value: 1 delta:
   raw result: True
   check result: True
 
+---------------------------------------------------------------------------------------
+---------------------------------------------------------------------------------------
+ PART V - Intialise the position of reference / ICATHALES-415
+---------------------------------------------------------------------------------------
+---------------------------------------------------------------------------------------
+Action: CMD INIT - No check
+  raw result: OK
+
+------------------------
+Check State is ON 
+------------------------
+Action: READ state param: [''] - Check: EQUAL value: ON delta:  
+  raw result: ON
+  check result: True
+
+------------------------
+Check InitialiseReferencePosition 
+------------------------
+Action: CMD InitialiseReferencePosition - No check
+  raw result: OK
+
+------------------------
+------------------------
+Wait (while state is Moving due to change position)
+------------------------
+Action: WAIT state param: ['0.1'] - Check: DIFF value: MOVING delta:  
+  last raw result: ON
+  last check result: True
+
+Action: READ position param: [''] - Check: EQUAL value: 0 delta:  
+  raw result: 10.0
+  check result: False
+
+Action: READ velocity param: [''] - Check: EQUAL value: 0.5 delta:  
+  raw result: 0.5
+  check result: True
+
 ------------------------ END OF TEST --------------------------
 
 ---------------------------------------------------------------------
 #### FINAL REPORT ####
-Checks OK: 19 -- checks KO: 0
+Checks OK: 22 -- checks KO: 1
 ---------------------------------------------------------------------

test/test-picontroller_dtt.cfg

@@ -38,7 +38,7 @@ WRITE;position;REAL;2.0;;;
 @------------------------
 WAIT;state;STATE;0.1;DIFF;MOVING;
 #
-WRITE;Velocity;REAL;2.0;;;
+WRITE;velocity;REAL;2.0;;;
 WRITE;acceleration;REAL;2.0;;;
 WRITE;deceleration;REAL;2.0;;;
 #
@@ -117,3 +117,28 @@ WAIT;state;STATE;0.1;DIFF;MOVING;
 READ;backwardLimitSwitch;BOOL;;EQUAL;0;
 READ;forwardLimitSwitch;BOOL;;EQUAL;1;
 #
+@---------------------------------------------------------------------------------------
+@---------------------------------------------------------------------------------------
+@ PART V - Intialise the position of reference / ICATHALES-415
+@---------------------------------------------------------------------------------------
+@---------------------------------------------------------------------------------------
+#
+CMD;INIT;;;;;
+@------------------------
+@Check State is ON 
+@------------------------
+READ;state;STATE;;EQUAL;ON;
+#
+@------------------------
+@Check InitialiseReferencePosition 
+@------------------------
+CMD;InitialiseReferencePosition;;;;;
+@------------------------
+@------------------------
+@Wait (while state is Moving due to change position)
+@------------------------
+WAIT;state;STATE;0.1;DIFF;MOVING;
+#
+READ;position;REAL;;EQUAL;0;
+READ;velocity;REAL;;EQUAL;0.5;
+#
\ No newline at end of file