Extend TestGetNames

source/RobotAPI/statecharts/RobotNameHelperTestGroup/TestGetNames.cpp

@@ -43,13 +43,151 @@ void TestGetNames::onEnter()
 
 void TestGetNames::run()
 {
-    RobotNameHelper::RobotArm arm = getRobotNameHelper()->getArm("Left").addRobot(getRobot());
-    ARMARX_IMPORTANT << "LeftArm: " << arm.getKinematicChain()->getName();
-    ARMARX_IMPORTANT << "LeftArm TCP: " << arm.getTCP()->getName();
-    //ARMARX_IMPORTANT << "HandControllerName: " << arm.getHandControllerName();
     ARMARX_IMPORTANT << "Profiles: " << getRobotNameHelper()->getProfiles();
-
-
+    auto side = [&](const auto s)
+    {
+        const auto arm = getRobotNameHelper()->getArm(s);
+        try
+        {
+            ARMARX_IMPORTANT << "qwerqwer               : " << arm.select("qwerqwer");
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+        try
+        {
+            ARMARX_IMPORTANT << "getSide               : " << arm.getSide();
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+        try
+        {
+            ARMARX_IMPORTANT << "getKinematicChain     : " << arm.getKinematicChain();
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+        try
+        {
+            ARMARX_IMPORTANT << "getTorsoKinematicChain: " << arm.getTorsoKinematicChain();
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+        try
+        {
+            ARMARX_IMPORTANT << "getTCP                : " << arm.getTCP();
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+        try
+        {
+            ARMARX_IMPORTANT << "getForceTorqueSensor  : " << arm.getForceTorqueSensor();
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+        try
+        {
+            ARMARX_IMPORTANT << "getEndEffector        : " << arm.getEndEffector();
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+        try
+        {
+            ARMARX_IMPORTANT << "getMemoryHandName     : " << arm.getMemoryHandName();
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+        try
+        {
+            ARMARX_IMPORTANT << "getHandControllerName : " << arm.getHandControllerName();
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+        try
+        {
+            ARMARX_IMPORTANT << "getHandModelPackage   : " << arm.getHandModelPackage();
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+        try
+        {
+            ARMARX_IMPORTANT << "getHandModelPath      : " << arm.getHandModelPath();
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+        try
+        {
+            ARMARX_IMPORTANT << "getHandRootNode       : " << arm.getHandRootNode();
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+
+        RobotNameHelper::RobotArm robarm = arm.addRobot(getRobot());
+        try
+        {
+            ARMARX_IMPORTANT << s << "Arm: " << robarm.getKinematicChain()->getName();
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+        try
+        {
+            ARMARX_IMPORTANT << s << "Arm TCP: " << robarm.getTCP()->getName();
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+        try
+        {
+            ARMARX_IMPORTANT << "HandRootNode: " << robarm.getHandRootNode()->getName();
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+        try
+        {
+            ARMARX_IMPORTANT << "TorsoKinematicChain: " << robarm.getTorsoKinematicChain()->getName();
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+        try
+        {
+            ARMARX_IMPORTANT << "Tcp2HandRootTransform: " << robarm.getTcp2HandRootTransform();
+        }
+        catch (...)
+        {
+            ARMARX_ERROR << GetHandledExceptionString();
+        }
+    };
+    side("Left");
+    side("Right");
 }
 
 //void TestGetNames::onBreak()