Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
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+// Bring in my package's API, which is what I'm testing
+#include <socketcan_interface/delegates.h>
+#include <socketcan_interface/dummy.h>
+#include <boost/bind.hpp>
+
+// Bring in gtest
+#include <gtest/gtest.h>
+
+class Receiver {
+public:
+    std::list<std::string> responses;
+    void handle(const can::Frame &f){
+        responses.push_back(can::tostring(f, true));
+    }
+    Receiver() = default;
+    ~Receiver() = default;
+
+private:
+    Receiver(const Receiver&) = delete;
+    Receiver& operator=(const Receiver&) = delete;
+};
+
+Receiver g_r2;
+
+void fill_r2(const can::Frame &f){
+    g_r2.handle(f);
+}
+
+void fill_any(Receiver &r, const can::Frame &f){
+    r.handle(f);
+}
+
+TEST(DelegatesTest, testFrameDelegate)
+{
+
+    can::DummyBus bus("testFrameDelegate");
+    can::ThreadedDummyInterface dummy;
+    dummy.init(bus.name, true, can::NoSettings::create());
+    Receiver r1, r3, r4, r5;
+    boost::shared_ptr<Receiver> r6(new Receiver());
+    std::shared_ptr<Receiver> r7(new Receiver());
+
+    can::FrameListenerConstSharedPtr l1 = dummy.createMsgListener(can::CommInterface::FrameDelegate(&r1, &Receiver::handle));
+    can::FrameListenerConstSharedPtr l2 = dummy.createMsgListener(can::CommInterface::FrameDelegate(fill_r2));
+    can::FrameListenerConstSharedPtr l3 = dummy.createMsgListener(can::CommInterface::FrameDelegate(std::bind(fill_any, std::ref(r3), std::placeholders::_1)));
+    can::FrameListenerConstSharedPtr l4 = dummy.createMsgListener(std::bind(fill_any, std::ref(r4), std::placeholders::_1));
+    can::FrameListenerConstSharedPtr l5 = dummy.createMsgListener(boost::bind(fill_any, boost::ref(r5), boost::placeholders::_1));
+    can::FrameListenerConstSharedPtr l6 = dummy.createMsgListener(can::CommInterface::FrameDelegate(r6, &Receiver::handle));
+    can::FrameListenerConstSharedPtr l7 = dummy.createMsgListener(can::CommInterface::FrameDelegate(r7, &Receiver::handle));
+
+    std::list<std::string> expected;
+    dummy.send(can::toframe("0#8200"));
+    dummy.flush();
+    expected.push_back("0#8200");
+
+    EXPECT_EQ(expected, r1.responses);
+    EXPECT_EQ(expected, g_r2.responses);
+    EXPECT_EQ(expected, r3.responses);
+    EXPECT_EQ(expected, r4.responses);
+    EXPECT_EQ(expected, r5.responses);
+    EXPECT_EQ(expected, r6->responses);
+    EXPECT_EQ(expected, r7->responses);
+}
+
+class BoolTest {
+    bool ret_;
+public:
+    bool test_bool() { return ret_; }
+    BoolTest(bool ret) : ret_(ret) {}
+public:
+    BoolTest(const BoolTest&) = delete;
+    BoolTest& operator=(const BoolTest&) = delete;
+};
+
+TEST(DelegatesTest, testBoolFunc)
+{
+
+    using BoolFunc = std::function<bool(void)>;
+    using BoolDelegate = can::DelegateHelper<BoolFunc>;
+
+    BoolDelegate d1([]() { return false; });
+    BoolDelegate d2([]() { return true; });
+
+    EXPECT_FALSE(d1());
+    EXPECT_TRUE(d2());
+
+    BoolTest b1(false);
+    BoolTest b2(true);
+
+    BoolDelegate d3(&b1, &BoolTest::test_bool);
+    BoolDelegate d4(&b2, &BoolTest::test_bool);
+    EXPECT_FALSE(d3());
+    EXPECT_TRUE(d4());
+
+}
+
+
+// Run all the tests that were declared with TEST()
+int main(int argc, char **argv){
+testing::InitGoogleTest(&argc, argv);
+return RUN_ALL_TESTS();
+}