.. _create_and_run_test_bench:

Create Testing Folder
=====================

First, you need to create a new **Testing** folder:

#. Locate the **GME Browser window**.
#. Right-click on the **RootFolder**
   and select :menuselection:`Insert Folder --> Testing`.
#. Name this new folder **HEBI_Daisy_Hexapod_Tutorial_Test**.

Create and Run Test Bench
=========================

In order to generate runtime artifacts from this model, you need to create a **Test Bench**
containing the **HEBI_Daisy_Hexapod** Component Assembly.

#. Locate the **GME Browser window**.
#. Right-click on the **HEBI_Daisy_Hexapod_Tutorial_Test** Testing folder
   and select :menuselection:`Insert Model --> Test Bench`.
#. Name this new Test Bench *HEBI_Daisy_Hexapod_Test*.
#. Double left-click the new **HEBI_Daisy_Hexapod_Test** Test Bench to open its canvas.

Add HEBI_Daisy_Hexapod Component Assembly
-----------------------------------------

#. Locate the **GME Browser window**.
#. Right-click on the **RootFolder** > **HEBI_Daisy_Hexapod_Tutorial_Test** > **HEBI_Daisy_Hexapod_Asm** Component Assembly
   and select :menuselection:`Copy`.
#. Inside the **HEBI_Daisy_Hexapod_Test** Test Bench canvas, right-click
   and select :menuselection:`Paste Special --> As Reference`.
#. The **Select Reference Role Type** window will appear. Select **TopLevelSystemUnderTest**
   and then :guilabel:`OK`

   .. image:: images/tb_canvas_comp_asm.png

Add Workflow
++++++++++++

Now you need to add a workflow. Workflows are groups of defined executables and scripts
that interpret the model, generate artifacts, and(or) run other programs as needed.

For this tutorial, you will be adding the **GenerateURDFAndLaunch** Workflow
which is already included in the Testing directory.

#. Locate the **GME Browser window**.
#. Right-click on the **RootFolder** > **Testing** > **WorkflowDefinitions** >
   **GenerateURDFAndLaunch** Workflow
   and select :menuselection:`Copy`.

   .. image:: images/gme_browser_workflow.png

#. Inside the **HEBI_Daisy_Hexapod_Test** Test Bench canvas, right-click
   and select :menuselection:`Paste Special --> As Reference`.

   .. image:: images/tb_canvas_workflow.png

Add Test Bench Parameters
+++++++++++++++++++++++++

Finally, you need to configure the Test Bench via a few Parameters.

#. Right-click within the **HEBI_Daisy_Hexapod_Test** Test Bench canvas
   and select :menuselection:`Insert New Reference --> Parameter`.
#. Name the Parameter **gazebo_simulation** and set its Value to **True**
#. Right-click within the **HEBI_Daisy_Hexapod_Test** Test Bench canvas
   and select :menuselection:`Insert New Reference --> Parameter`.
#. Name the Parameter **fixed_model** and set its Value to **False**
#. Right-click within the **HEBI_Daisy_Hexapod_Test** Test Bench canvas
   and select :menuselection:`Insert New Reference --> Parameter`.
#. Name the Parameter **spawn_position** and set its Value to **(0,0,0.25)**.

   .. image:: images/tb_canvas_parameters.png

Add CADComputationComponent and Parameters
++++++++++++++++++++++++++++++++++++++++++

#. Locate the **Part Browser** window. If it is not visible,
   make sure the :menuselection:`View --> Part Browser` option is ticked.
#. Within the **Part Browser** window, select the :guilabel:`All` filter
   and scroll down until you locate the **CADComputationComponent**.

    .. image:: images/tb_canvas_cad_computation_1.png

#. Left-click on the **CADComputationComponent** icon and drag it onto the **HEBI_Daisy_Hexapod_Test** Test Bench canvas.
#. Within the **HEBI_Daisy_Hexapod_Test** canvas, double left-click on the **CADComputationComponent** model to edit it.
#. Locate the **Part Browser** window. If it is not visible,
   make sure the :menuselection:`View --> Part Browser` option is ticked.
#. From the **Part Browser** window, drag the **BoundingBox**, **CenterOfGravity**, **InterferenceCount**, and **Mass** models
   onto the **CADComputationComponent** canvas.

   .. image:: images/cad_computation_canvas.png

#. Return to the **HEBI_Daisy_Hexapod_Test** Test Bench canvas.
#. Right-click within the **HEBI_Daisy_Hexapod_Test** Test Bench canvas
   and select :menuselection:`Insert New Reference --> Metric`.
#. Name the Metric **BoundingBox**, and connect the **CADComputationComponent** model's **BoundingBox** port to it.
#. Right-click within the **HEBI_Daisy_Hexapod_Test** Test Bench canvas
   and select :menuselection:`Insert New Reference --> Metric`.
#. Name the Metric **CenterOfGravity**, and connect the **CADComputationComponent** model's **CenterOfGravity** port to it.
#. Right-click within the **HEBI_Daisy_Hexapod_Test** Test Bench canvas
   and select :menuselection:`Insert New Reference --> Metric`.
#. Name the Metric **InterferenceCount**, and connect the **CADComputationComponent** model's **InterferenceCount** port to it.
#. Right-click within the **HEBI_Daisy_Hexapod_Test** Test Bench canvas
   and select :menuselection:`Insert New Reference --> Metric`.
#. Name the Metric **Mass**, and connect the **CADComputationComponent** model's **Mass** port to it.

   .. image:: images/tb_canvas_cad_computation_2.png

#. Right-click within the **HEBI_Daisy_Hexapod_Test** Test Bench canvas
   and select :menuselection:`Insert New Reference --> Parameter`.
#. Name the Parameter **Export_All_Component_Points**.
#. Right-click within the **HEBI_Daisy_Hexapod_Test** Test Bench canvas
   and select :menuselection:`Insert New Reference --> Parameter`.
#. Name the Parameter **EXPORT_STEREOLITHOGRAPHY_BINARY**.

   .. image:: images/tb_canvas_cad_computation_3.png

Run Test Bench
--------------

Now its time to run the **HEBI_Daisy_Hexapod_Test** Test Bench.

#. With the **HEBI_Daisy_Hexapod_Test** Test Bench canvas open,
   left-click on the CyPhy Master Interpreter button.

   .. image:: images/cyphy_master_interpreter.png

#. The CyPhy Master Interpreter window will open.
   Ensure that **Post to META Job Manager** is checked
   and then the **HEBI_Daisy_Hexapod** configuration is selected.
   Then Left-click :guilabel:`OK`.

   The Job will be listed under the **Active Jobs** tab of the **Results Browser**.

   While the job is running, it will be colored blue.
   Once it finishes successfully, it will change to green.

   .. image:: images/results_browser_active_jobs.png

View Generated Artifacts
++++++++++++++++++++++++

#. In the **Results Browser** window - under the **Active Jobs** tab,
   right-click on the completed job and select :menuselection:`Show in Explorer`.

   .. image:: images/generated_artifacts.png

   Inside the folder, you should see 2 generated ROS Packages **hebi_daisy_hexapod_test_generated_launch_...**
   and **hebi_daisy_hexapod_test_generated_urdf_...**.

   You will want to transfer this generated ROS Package over to your Linux
   machine for the next step in the tutorial.

   Congratulations! You have successfully generated a ROS Package containing
   model-based .launch and .urdf files.