capi_nemesys4_test.cpp

This example shows and tests features of the new Nemesys 4 pumps.

//============================================================================
/// \file   capi_nemesys_test.cpp
/// \author Uwe Kindler
/// \date   11.07.2012
/// \brief  Test of labbCAN pump API
//============================================================================


//============================================================================
//                                   INCLUDES
//============================================================================
#include <chrono>
#include <vector>

#include <labbcan/c_api/labbCAN_Bus_API.h>
#include <labbcan/c_api/labbCAN_Pump_API.h>
#include <labbcan/c_api/labbCAN_MotionControl_API.h>
#include <labbcan/c_api/labbCAN_Valve_API.h>
#include <labbcan/common/labbcan_test_helpers.h>

#include <usl/core/Thread.h>
#include <usl/core/PollingTimer.h>
#include <usl/math/uslmath.h>
#include <log4cplus/logger.h>
#include <diag/diag.h>
#include "capi_tests_common.h"


using namespace Usl;
#define BOOST_TEST_MODULE capi_nemesys4_test
#include <boost/test/unit_test.hpp>

using namespace boost::unit_test;

/**
* Make available program's arguments to all tests, recieving
* this fixture.
*/
struct ArgsFixture {
   ArgsFixture(): argc(framework::master_test_suite().argc),
           argv(framework::master_test_suite().argv){}
   int argc;
   char **argv;
};

BOOST_GLOBAL_FIXTURE( ArgsFixture );


//============================================================================
//                                DATA TYPES
//============================================================================



//============================================================================
//                               GLOBAL DATA
//============================================================================
dev_hdl Nemesys;
long Result;


//============================================================================
// Open the labbCAN bus api and connect to device
//============================================================================
BOOST_FIXTURE_TEST_CASE(testCapiOpen, ArgsFixture)
{
    using namespace boost::unit_test;
    const char* ConfigPath = "config/testconfig_qmixsdk";
    if (argc > 1)
    {
        ConfigPath = argv[1];
    }

    Result = LCB_Open(ConfigPath, 0);
    CAPI_REQUIRE_ERR_NOERR(Result);
}


//============================================================================
// Checks if retrieval of pump devices works properly
//============================================================================
BOOST_AUTO_TEST_CASE(testDeviceNameLookup)
{
    Result = LCP_LookupPumpByName("Nemesys_S_1_Pump", &Nemesys);
    CAPI_REQUIRE_ERR_NOERR(Result);
}


//============================================================================
// Checks if start of bus and logging works properly
//============================================================================
BOOST_AUTO_TEST_CASE(testBusStart)
{
    Result = LCB_Start();
    CAPI_CHECK_ERR_NOERR(Result);
    Result = LCB_Log("C-API Log Test Message");
    CAPI_CHECK_ERR_NOERR(Result);
}


//============================================================================
// Checks if enabling pumps works properly
//============================================================================
BOOST_AUTO_TEST_CASE(testPumpEnable)
{
    Result = LCP_IsInFaultState(Nemesys);
    CAPI_CHECK_ERR_NOERR(Result);
    BOOST_CHECK_GT(Result, -1);
    if (Result)
    {
        Result = LCP_ClearFault(Nemesys);
        CAPI_CHECK_ERR_NOERR(Result);
    }
    Result = LCP_Enable(Nemesys);
    CAPI_CHECK_ERR_NOERR(Result);
    CThread::sleep(500);// give pump some time to process enable request
    Result = LCP_IsEnabled(Nemesys);
    CAPI_CHECK_ERR_NOERR(Result);
    BOOST_CHECK_GT(Result, 0);
}


//============================================================================
// Checks if calibration functions return the right values
//============================================================================
BOOST_AUTO_TEST_CASE(testCalibration)
{
    //
    // Nemesys 4 devices such as Nemesys M and Nemesys S have an absolute
    // encoder and this function should always return true
    //
    Result = LCP_IsPositionSensingInitialized(Nemesys);
    CAPI_REQUIRE_ERR_NOERR(Result);
    BOOST_REQUIRE_EQUAL(1, Result);

    //
    // Because of the absolute encoder a calibration move is not required and
    // not supported for Nemesys 4 devices.
    //
    Result = LCP_SyringePumpCalibrate(Nemesys);
    BOOST_REQUIRE_EQUAL(-ERR_DEVNOSUPP, Result);

    char ExtendedError[128];
    LCB_GetExtendedLastErrorString(ExtendedError, sizeof(ExtendedError));
    BOOST_TEST_MESSAGE("Error: " << ExtendedError);

    //
    // Because of the absolute encoder a restoring position counter value is
    // not required and not supported for Nemesys 4 devices.
    //
    Result = LCP_RestoreDrivePosCnt(Nemesys, 0);
    BOOST_REQUIRE_EQUAL(-ERR_DEVNOSUPP, Result);
    LCB_GetExtendedLastErrorString(ExtendedError, sizeof(ExtendedError));
    BOOST_TEST_MESSAGE("Error: " << ExtendedError);
}


//============================================================================
// Tests valve switching
//============================================================================
BOOST_AUTO_TEST_CASE(testValve)
{
    dev_hdl Valve;

    Result = LCP_HasValve(Nemesys);
    CAPI_REQUIRE_ERR_NOERR(Result);
    BOOST_REQUIRE_EQUAL(1, Result);

    Result = LCP_GetValveHandle(Nemesys, &Valve);
    CAPI_REQUIRE_ERR_NOERR(Result);

    long NumberOfValvePositions = LCV_NumberOfValvePositions(Valve);
    BOOST_REQUIRE_EQUAL(NumberOfValvePositions, 4);// Nemesys continuous flow valve support up to 4 positions (closed, port1, port2, open)

    BOOST_TEST_MESSAGE("Number of valve positions: " << NumberOfValvePositions);

    // Backup current valver position
    long CurrentValvePosition = LCV_ActualValvePosition(Valve);
    BOOST_REQUIRE_GE(CurrentValvePosition, 0);

    // Now cycle through all valve positions
    for (int i = 0; i < NumberOfValvePositions; ++i)
    {
        Result = LCV_SwitchValveToPosition(Valve, i);
        CAPI_CHECK_ERR_NOERR(Result);
        CThread::sleep(1000);
    }

    // Restore old valve position
    Result = LCV_SwitchValveToPosition(Valve, CurrentValvePosition);
    CAPI_CHECK_ERR_NOERR(Result);
}


//============================================================================
// Checks if C-API can get closed properly
//============================================================================
BOOST_AUTO_TEST_CASE(testCapiClose)
{
    Result = LCB_Stop();
    CAPI_CHECK_ERR_NOERR(Result);

    Result = LCB_Close();
    CAPI_CHECK_ERR_NOERR(Result);
}


//---------------------------------------------------------------------------
// EOF capi_test.cpp