141 lines
4.1 KiB
C++
141 lines
4.1 KiB
C++
/*
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* Copyright (c) 2016, Ivor Wanders
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <socketcan_bridge/topic_to_socketcan.h>
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#include <socketcan_bridge/socketcan_to_topic.h>
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#include <can_msgs/Frame.h>
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#include <socketcan_interface/socketcan.h>
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// Bring in gtest
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#include <gtest/gtest.h>
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// test whether the content of a conversion from a SocketCAN frame
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// to a ROS message correctly maintains the data.
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TEST(ConversionTest, socketCANToTopicStandard)
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{
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can::Frame f;
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can_msgs::Frame m;
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f.id = 127;
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f.dlc = 8;
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f.is_error = false;
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f.is_rtr = false;
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f.is_extended = false;
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for (uint8_t i = 0; i < f.dlc; ++i)
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{
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f.data[i] = i;
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}
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socketcan_bridge::convertSocketCANToMessage(f, m);
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EXPECT_EQ(127, m.id);
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EXPECT_EQ(8, m.dlc);
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EXPECT_EQ(false, m.is_error);
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EXPECT_EQ(false, m.is_rtr);
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EXPECT_EQ(false, m.is_extended);
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for (uint8_t i=0; i < 8; i++)
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{
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EXPECT_EQ(i, m.data[i]);
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}
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}
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// test all three flags seperately.
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TEST(ConversionTest, socketCANToTopicFlags)
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{
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can::Frame f;
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can_msgs::Frame m;
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f.is_error = true;
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socketcan_bridge::convertSocketCANToMessage(f, m);
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EXPECT_EQ(true, m.is_error);
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f.is_error = false;
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f.is_rtr = true;
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socketcan_bridge::convertSocketCANToMessage(f, m);
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EXPECT_EQ(true, m.is_rtr);
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f.is_rtr = false;
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f.is_extended = true;
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socketcan_bridge::convertSocketCANToMessage(f, m);
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EXPECT_EQ(true, m.is_extended);
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f.is_extended = false;
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}
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// idem, but the other way around.
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TEST(ConversionTest, topicToSocketCANStandard)
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{
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can::Frame f;
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can_msgs::Frame m;
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m.id = 127;
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m.dlc = 8;
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m.is_error = false;
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m.is_rtr = false;
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m.is_extended = false;
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for (uint8_t i = 0; i < m.dlc; ++i)
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{
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m.data[i] = i;
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}
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socketcan_bridge::convertMessageToSocketCAN(m, f);
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EXPECT_EQ(127, f.id);
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EXPECT_EQ(8, f.dlc);
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EXPECT_EQ(false, f.is_error);
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EXPECT_EQ(false, f.is_rtr);
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EXPECT_EQ(false, f.is_extended);
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for (uint8_t i=0; i < 8; i++)
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{
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EXPECT_EQ(i, f.data[i]);
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}
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}
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TEST(ConversionTest, topicToSocketCANFlags)
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{
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can::Frame f;
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can_msgs::Frame m;
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m.is_error = true;
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socketcan_bridge::convertMessageToSocketCAN(m, f);
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EXPECT_EQ(true, f.is_error);
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m.is_error = false;
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m.is_rtr = true;
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socketcan_bridge::convertMessageToSocketCAN(m, f);
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EXPECT_EQ(true, f.is_rtr);
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m.is_rtr = false;
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m.is_extended = true;
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socketcan_bridge::convertMessageToSocketCAN(m, f);
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EXPECT_EQ(true, f.is_extended);
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m.is_extended = false;
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}
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// Run all the tests that were declared with TEST()
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int main(int argc, char **argv)
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{
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testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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