Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
@@ -0,0 +1,65 @@
+#include <socketcan_interface/dummy.h>
+#include <canopen_master/canopen.h>
+
+// Bring in gtest
+#include <gtest/gtest.h>
+
+canopen::ObjectDictSharedPtr  make_dict(){
+    canopen::DeviceInfo info;
+    info.nr_of_rx_pdo = 0;
+    info.nr_of_tx_pdo = 0;
+
+    canopen::ObjectDictSharedPtr  dict = std::make_shared<canopen::ObjectDict>(info);
+    dict->insert(false, std::make_shared<const canopen::ObjectDict::Entry>(canopen::ObjectDict::VAR,
+                                                                           0x1017,
+                                                                           canopen::ObjectDict::DEFTYPE_UNSIGNED16,
+                                                                           "producer heartbeat",
+                                                                           true, true, false,
+                                                                           canopen::HoldAny((uint16_t)0),
+                                                                           canopen::HoldAny((uint16_t)100)
+                                                                           ));
+    return dict;
+}
+TEST(TestNode, testInitandShutdown){
+
+    can::DummyBus bus("testInitandShutdown");
+
+    can::ThreadedDummyInterfaceSharedPtr driver = std::make_shared<can::ThreadedDummyInterface>();
+
+    can::DummyReplay replay;
+
+    replay.add("0#8201", "701#00");
+    replay.add("601#2b17100064000000", "581#6017100000000000");
+    replay.add("0#0101", "701#05");
+    replay.add("601#2b17100000000000", "581#6017100000000000");
+    replay.init(bus);
+
+    EXPECT_FALSE(replay.done());
+
+    auto settings = can::SettingsMap::create();
+    settings->set("trace", true);
+
+    driver->init(bus.name, false, settings);
+
+    canopen::NodeSharedPtr node = std::make_shared<canopen::Node>(driver, make_dict(), 1);
+
+    {
+        canopen::LayerStatus status;
+        node->init(status);
+        ASSERT_TRUE(status.bounded<canopen::LayerStatus::Ok>());
+        ASSERT_EQ(canopen::Node::Operational, node->getState());
+    }
+
+    {
+        canopen::LayerStatus status;
+        node->shutdown(status);
+        ASSERT_TRUE(status.bounded<canopen::LayerStatus::Ok>());
+    }
+    EXPECT_TRUE(replay.done());
+}
+
+// Run all the tests that were declared with TEST()
+int main(int argc, char **argv){
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}