fix broken tests

Author: jgeaso1266

components/gantry/fake/gantry.go

@@ -4,6 +4,8 @@ package fake
 import (
 	"context"
 
+	"github.com/golang/geo/r3"
+
 	"go.viam.com/rdk/components/gantry"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/referenceframe"
@@ -30,11 +32,29 @@ func init() {
 
 // NewGantry returns a new fake gantry.
 func NewGantry(name resource.Name, logger logging.Logger) gantry.Gantry {
-	m, err := referenceframe.KinematicModelFromFile("../test_gantry_model.json", "test_gantry_model")
+	m := referenceframe.NewSimpleModel("test_gantry")
+	pose := spatialmath.NewZeroPose()
+	baseRailGeom, err := spatialmath.NewBox(pose, r3.Vector{500, 100, 100}, "base_rail")
+	if err != nil {
+		logger.CErrorf(context.Background(), "could not create base rail geometry: %v", err)
+	}
+	f, err := referenceframe.NewStaticFrameWithGeometry("base_rail", pose, baseRailGeom)
 	if err != nil {
-		logger.CWarnf(context.Background(), "failed to load kinematics from file: %v", err)
-		m = nil
+		logger.CErrorf(context.Background(), "could not create static frame: %v", err)
 	}
+	m.SetOrdTransforms(append(m.OrdTransforms(), f))
+
+	carriageGeom, err := spatialmath.NewBox(pose, r3.Vector{150, 120, 10}, "carriage")
+	if err != nil {
+		logger.CErrorf(context.Background(), "could not create carriage geometry: %v", err)
+	}
+	f, err = referenceframe.NewTranslationalFrameWithGeometry(
+		"carriage", r3.Vector{1, 0, 0}, referenceframe.Limit{Min: 0, Max: 500}, carriageGeom)
+	if err != nil {
+		logger.CErrorf(context.Background(), "could not create translational frame: %v", err)
+	}
+	m.SetOrdTransforms(append(m.OrdTransforms(), f))
+
 	return &Gantry{
 		testutils.NewUnimplementedResource(name),
 		resource.TriviallyReconfigurable{},

components/gantry/multiaxis/multiaxis_test.go

@@ -48,14 +48,23 @@ func createFakeDeps() resource.Dependencies {
 	fakeGantry1.LengthsFunc = func(ctx context.Context, extra map[string]interface{}) ([]float64, error) {
 		return []float64{1}, nil
 	}
+	fakeGantry1.KinematicsFunc = func(ctx context.Context) (referenceframe.Model, error) {
+		return referenceframe.NewSimpleModel(""), nil
+	}
 	fakeGantry2 := inject.NewGantry("2")
 	fakeGantry2.LengthsFunc = func(ctx context.Context, extra map[string]interface{}) ([]float64, error) {
 		return []float64{1}, nil
 	}
+	fakeGantry2.KinematicsFunc = func(ctx context.Context) (referenceframe.Model, error) {
+		return referenceframe.NewSimpleModel(""), nil
+	}
 	fakeGantry3 := inject.NewGantry("3")
 	fakeGantry3.LengthsFunc = func(ctx context.Context, extra map[string]interface{}) ([]float64, error) {
 		return []float64{1}, nil
 	}
+	fakeGantry3.KinematicsFunc = func(ctx context.Context) (referenceframe.Model, error) {
+		return referenceframe.NewSimpleModel(""), nil
+	}
 	fakeMotor := &fm.Motor{
 		Named: motor.Named("fm1").AsNamed(),
 	}
@@ -305,6 +314,7 @@ func TestKinematics(t *testing.T) {
 		Named:     gantry.Named("foo").AsNamed(),
 		subAxes:   twoAxes,
 		lengthsMm: []float64{1, 1},
+		model:     referenceframe.NewSimpleModel(""),
 		opMgr:     operation.NewSingleOperationManager(),
 	}
 	model, err := fakemultiaxis.Kinematics(context.Background())
@@ -315,6 +325,7 @@ func TestKinematics(t *testing.T) {
 		Named:     gantry.Named("foo").AsNamed(),
 		subAxes:   threeAxes,
 		lengthsMm: []float64{1, 1, 1},
+		model:     referenceframe.NewSimpleModel(""),
 		opMgr:     operation.NewSingleOperationManager(),
 	}
 	model, err = fakemultiaxis.Kinematics(context.Background())
@@ -342,6 +353,9 @@ func createComplexDeps() resource.Dependencies {
 	mAx1.StopFunc = func(ctx context.Context, extra map[string]interface{}) error {
 		return nil
 	}
+	mAx1.KinematicsFunc = func(ctx context.Context) (referenceframe.Model, error) {
+		return referenceframe.NewSimpleModel("mAx1"), nil
+	}
 
 	position2 := []float64{9, 8, 7}
 	mAx2 := inject.NewGantry("2")
@@ -362,6 +376,9 @@ func createComplexDeps() resource.Dependencies {
 	mAx2.StopFunc = func(ctx context.Context, extra map[string]interface{}) error {
 		return nil
 	}
+	mAx2.KinematicsFunc = func(ctx context.Context) (referenceframe.Model, error) {
+		return referenceframe.NewSimpleModel("mAx2"), nil
+	}
 
 	fakeMotor := &fm.Motor{
 		Named: motor.Named("foo").AsNamed(),

components/gantry/singleaxis/singleaxis_test.go

@@ -730,6 +730,7 @@ func TestKinematics(t *testing.T) {
 			Board:           boardName,
 			LimitPinEnabled: &setTrue,
 			GantryMmPerSec:  float64(300),
+			Kinematics:      "../test_gantry_model.json",
 		},
 	}
 	fakegantry, _ := newSingleAxis(ctx, deps, fakecfg, logger)