Add test for heartbeat functionality

tests/executable_src/testHeartbeat.cc

+// Define a name for the test module.
+#define BOOST_TEST_MODULE testHeartbeat
+// Only after defining the name include the unit test header.
+#include <boost/test/included/unit_test.hpp>
+
+#include <ChimeraTK/ApplicationCore/TestFacility.h>
+
+#include "Server.h"
+#include "TecDummy.h"
+
+namespace ctk = ChimeraTK;
+
+// Declare the server instance
+
+
+struct Fixture_t {
+  Server theServer{"tec_dummy"};
+  ChimeraTK::TestFacility testFacility;
+
+  boost::shared_ptr<TecDummy> dummy{
+      boost::dynamic_pointer_cast<TecDummy>(ChimeraTK::BackendFactory::getInstance().createBackend("ActualDevice"))};
+};
+
+using namespace boost::unit_test_framework;
+
+
+BOOST_AUTO_TEST_SUITE(TecHeartbeatTestSuite)
+
+/**********************************************************************************************************************/
+
+BOOST_FIXTURE_TEST_CASE(testHeartbeatEnableDisable, Fixture_t) {
+  std::cout << "testHearbeatEnableDisable" << std::endl;
+
+  auto heartbeatEnable = testFacility.getScalar<ctk::Boolean>("TecModule/enableHeartbeat");
+  auto deviceType = testFacility.getScalar<int>("TecModule/mon_deviceType_rd");
+
+  testFacility.runApplication();
+
+  // Set the device type, the module should not read that as neither heartbeat is on, nor explicit read request for
+  // the property and not added to periodic readout
+  int setDeviceType = 4711;
+  dummy->set(TecFrame::TecParameter::DeviceType, setDeviceType);
+  theServer.periodicRead.sendTrigger();
+  testFacility.stepApplication();
+  deviceType.readLatest();
+
+  BOOST_CHECK_EQUAL(deviceType, 0);
+
+  // enable heartbeat, whe should get the value set above
+  heartbeatEnable = true;
+  heartbeatEnable.write();
+  theServer.periodicRead.sendTrigger();
+  testFacility.stepApplication();
+  deviceType.readLatest();
+
+  BOOST_CHECK_EQUAL(setDeviceType, deviceType);
+
+  // change value, should be updated in the module
+  setDeviceType++;
+  dummy->set(TecFrame::TecParameter::DeviceType, setDeviceType);
+  theServer.periodicRead.sendTrigger();
+  testFacility.stepApplication();
+  deviceType.readLatest();
+  BOOST_CHECK_EQUAL(setDeviceType, deviceType);
+
+  // disable heartbeat, update value. Value in module should stay the same
+  heartbeatEnable = false;
+  heartbeatEnable.write();
+  setDeviceType++;
+  dummy->set(TecFrame::TecParameter::DeviceType, setDeviceType);
+  theServer.periodicRead.sendTrigger();
+  testFacility.stepApplication();
+  deviceType.readLatest();
+  BOOST_CHECK_EQUAL(setDeviceType - 1, deviceType);
+}
+
+/**********************************************************************************************************************/
+
+BOOST_FIXTURE_TEST_CASE(testHearbeatOnPeriodicRead, Fixture_t) {
+  std::cout << "testHearbeatOnPeriodicRead" << std::endl;
+
+  auto heartbeatEnable = testFacility.getScalar<ctk::Boolean>("TecModule/enableHeartbeat");
+  auto deviceType = testFacility.getScalar<int>("TecModule/mon_deviceType_rd");
+
+  int setDeviceType = 4811;
+  dummy->set(TecFrame::TecParameter::DeviceType, setDeviceType);
+
+  // Enable heartbeat, check that information from the heartbeat register is read
+  testFacility.runApplication();
+  heartbeatEnable = true;
+  heartbeatEnable.write();
+  theServer.periodicRead.sendTrigger();
+  testFacility.stepApplication();
+  deviceType.readLatest();
+  BOOST_CHECK_EQUAL(setDeviceType, deviceType);
+
+  // Add a variable to the periodic read. The module should stop reading out the heartbeat register
+  testFacility.writeScalar<int>("TecModule/mon_serialNumber_enaPeriodicRead", 1);
+  int lastDeviceType = setDeviceType;
+
+  for(int i = 0; i < 10; i++) {
+    dummy->set(TecFrame::TecParameter::DeviceType, ++setDeviceType);
+    theServer.periodicRead.sendTrigger();
+    testFacility.stepApplication();
+    deviceType.readLatest();
+    BOOST_CHECK_EQUAL(lastDeviceType, deviceType);
+  }
+
+  // disable periodic variable. HB register should be updated again
+  testFacility.writeScalar<int>("TecModule/mon_serialNumber_enaPeriodicRead", 0);
+  theServer.periodicRead.sendTrigger();
+  testFacility.stepApplication();
+  deviceType.readLatest();
+  BOOST_CHECK_EQUAL(setDeviceType, deviceType);
+}
+/**********************************************************************************************************************/
+
+BOOST_FIXTURE_TEST_CASE(testHearbeatFailCausesModuleError, Fixture_t) {
+  std::cout << "testHearbeatOnPeriodicRead" << std::endl;
+
+
+  auto heartbeatEnable = testFacility.getScalar<ctk::Boolean>("TecModule/enableHeartbeat");
+  auto deviceType = testFacility.getScalar<int>("TecModule/mon_deviceType_rd");
+  auto errorMessage = testFacility.getScalar<std::string>("TecModule/errorMessage");
+  auto errorStatus = testFacility.getScalar<int>("TecModule/errorStatus");
+  auto errorReset = testFacility.getScalar<int>("TecModule/errorReset");
+
+  int setDeviceType = 4811;
+  dummy->set(TecFrame::TecParameter::DeviceType, setDeviceType);
+
+  // Enable heartbeat, check that information from the heartbeat register is read
+  testFacility.runApplication();
+
+  heartbeatEnable = true;
+  heartbeatEnable.write();
+  theServer.periodicRead.sendTrigger();
+  testFacility.stepApplication();
+  deviceType.readLatest();
+  BOOST_CHECK_EQUAL(setDeviceType, deviceType);
+
+  dummy->simulateSerialTimeout = true;
+
+  theServer.periodicRead.sendTrigger();
+  testFacility.stepApplication();
+  deviceType.readLatest();
+  BOOST_CHECK(deviceType.dataValidity() == ctk::DataValidity::faulty);
+  BOOST_CHECK(errorMessage.readNonBlocking());
+  BOOST_CHECK(errorStatus.readNonBlocking());
+  BOOST_CHECK(std::string(errorMessage) != "");
+  BOOST_CHECK(std::string(errorMessage).find("mon_deviceType") != std::string::npos);
+  BOOST_CHECK(errorStatus != 0);
+  BOOST_CHECK_EQUAL(setDeviceType, deviceType);
+}
+
+/**********************************************************************************************************************/
+
+BOOST_AUTO_TEST_SUITE_END()