saved work

2023-04-08 06:32:14 +08:00 · 2021-07-12 19:02:41 +08:00
parent 10d9fc734e
commit 6cbdebc38a
14 changed files with 337 additions and 93 deletions
--- a/test/unit_tests/utest_hunter_v1_command.cpp
+++ b/test/unit_tests/utest_hunter_v1_command.cpp
@@ -0,0 +1,106 @@
+/*
+ * utest_hunter_v1_command.cpp
+ *
+ * Created on: Jul 12, 2021 17:28
+ * Description:
+ *
+ * Copyright (c) 2021 Weston Robot Pte. Ltd.
+ */
+
+#include <stdio.h>
+#include <vector>
+#include <iostream>
+
+#include "gtest/gtest.h"
+
+#include "ugv_sdk/details/protocol_v1/protocol_v1_parser.hpp"
+#include "protocol_v1/agilex_protocol_v1.h"
+
+using namespace westonrobot;
+
+struct HunterV1CommandTest : testing::Test {
+  struct can_frame frame;
+  HunterProtocolV1Parser parser;
+};
+
+TEST_F(HunterV1CommandTest, MotionLinearCommandTest) {
+  AgxMessage msg;
+
+  msg.type = AgxMsgMotionCommandV1;
+  msg.body.v1_motion_command_msg.linear = 0.15;
+  msg.body.v1_motion_command_msg.angular = 0;
+
+  parser.EncodeMessage(&msg, &frame);
+
+  uint8_t expected_data[8] = {0x01, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x44};
+
+  ASSERT_EQ(frame.can_id, CAN_MSG_MOTION_COMMAND_ID);
+  ASSERT_EQ(frame.can_dlc, 8);
+
+  for (int i = 0; i < 6; ++i) {
+    // printf("expecting: %x, getting: %x\n", expected_data[i], frame.data[i]);
+    ASSERT_EQ(frame.data[i], expected_data[i]);
+  }
+}
+
+TEST_F(HunterV1CommandTest, MotionAngularCommandTest) {
+  AgxMessage msg;
+
+  msg.type = AgxMsgMotionCommandV1;
+  msg.body.v1_motion_command_msg.linear = 0.0;
+  msg.body.v1_motion_command_msg.angular = 2.55;
+
+  parser.EncodeMessage(&msg, &frame);
+
+  uint8_t expected_data[8] = {0x01, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x01, 0x45};
+
+  ASSERT_EQ(frame.can_id, CAN_MSG_MOTION_COMMAND_ID);
+  ASSERT_EQ(frame.can_dlc, 8);
+
+  for (int i = 0; i < 6; ++i) {
+    // printf("expecting: %x, getting: %x\n", expected_data[i], frame.data[i]);
+    ASSERT_EQ(frame.data[i], expected_data[i]);
+  }
+}
+
+TEST_F(HunterV1CommandTest, ValueSetCommandTest) {
+  AgxMessage msg;
+
+  msg.type = AgxMsgValueSetCommandV1;
+  msg.body.v1_value_set_command_msg.set_neutral = true;
+
+  parser.EncodeMessage(&msg, &frame);
+
+  uint8_t expected_data[6] = {0xaa, 0x00, 0x00, 0x00, 0x00, 0x00};
+
+  ASSERT_EQ(frame.can_id, CAN_MSG_VALUE_SET_COMMAND_ID);
+  ASSERT_EQ(frame.can_dlc, 8);
+
+  for (int i = 0; i < 6; ++i) {
+    // printf("expecting: %x, getting: %x\n", expected_data[i], frame.data[i]);
+    ASSERT_EQ(frame.data[i], expected_data[i]);
+  }
+}
+
+TEST_F(HunterV1CommandTest, LightCommandTest) {
+  AgxMessage msg;
+
+  msg.type = AgxMsgLightCommand;
+  msg.body.light_command_msg.enable_cmd_ctrl = true;
+  msg.body.light_command_msg.front_light.mode = CONST_ON;
+  msg.body.light_command_msg.front_light.custom_value = 100;
+  msg.body.light_command_msg.rear_light.mode = CUSTOM;
+  msg.body.light_command_msg.rear_light.custom_value = 50;
+
+  parser.EncodeMessage(&msg, &frame);
+
+  uint8_t expected_data[8] = {0x01, 0x01, 0x64, 0x03, 0x32, 0x00, 0x00, 0xe4};
+
+  ASSERT_EQ(frame.can_id, CAN_MSG_LIGHT_COMMAND_ID);
+  ASSERT_EQ(frame.can_dlc, 8);
+
+  for (int i = 0; i < 6; ++i) {
+    // printf("expecting: %x, getting: %x\n", expected_data[i], frame.data[i]);
+    ASSERT_EQ(frame.data[i], expected_data[i]);
+  }
+}