mirror of
https://github.com/westonrobot/ugv_sdk
synced 2023-04-08 06:32:14 +08:00
85 lines
2.2 KiB
C++
85 lines
2.2 KiB
C++
/*
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* utest_scout_v1_command.cpp
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*
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* Created on: Jul 12, 2021 16:37
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* Description:
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*
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* Copyright (c) 2021 Weston Robot Pte. Ltd.
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*/
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#include <stdio.h>
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#include <vector>
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#include <iostream>
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#include "gtest/gtest.h"
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#include "ugv_sdk/details/protocol_v1/protocol_v1_parser.hpp"
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#include "protocol_v1/agilex_protocol_v1.h"
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using namespace westonrobot;
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struct ScoutV1CommandTest : testing::Test {
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struct can_frame frame;
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ScoutProtocolV1Parser parser;
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};
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TEST_F(ScoutV1CommandTest, MotionLinearCommandTest) {
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AgxMessage msg;
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msg.type = AgxMsgMotionCommandV1;
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msg.body.v1_motion_command_msg.linear = 0.15;
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msg.body.v1_motion_command_msg.angular = 0;
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parser.EncodeMessage(&msg, &frame);
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uint8_t expected_data[8] = {0x01, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x44};
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ASSERT_EQ(frame.can_id, CAN_MSG_MOTION_COMMAND_ID);
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ASSERT_EQ(frame.can_dlc, 8);
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for (int i = 0; i < 8; ++i) {
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ASSERT_EQ(frame.data[i], expected_data[i]);
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}
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}
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TEST_F(ScoutV1CommandTest, MotionAngularCommandTest) {
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AgxMessage msg;
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msg.type = AgxMsgMotionCommandV1;
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msg.body.v1_motion_command_msg.linear = 0.0;
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msg.body.v1_motion_command_msg.angular = 0.05235;
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parser.EncodeMessage(&msg, &frame);
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uint8_t expected_data[8] = {0x01, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x01, 0x45};
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ASSERT_EQ(frame.can_id, CAN_MSG_MOTION_COMMAND_ID);
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ASSERT_EQ(frame.can_dlc, 8);
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for (int i = 0; i < 8; ++i) {
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ASSERT_EQ(frame.data[i], expected_data[i]);
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}
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}
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TEST_F(ScoutV1CommandTest, LightCommandTest) {
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AgxMessage msg;
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msg.type = AgxMsgLightCommand;
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msg.body.light_command_msg.enable_cmd_ctrl = true;
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msg.body.light_command_msg.front_light.mode = CONST_ON;
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msg.body.light_command_msg.front_light.custom_value = 100;
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msg.body.light_command_msg.rear_light.mode = CUSTOM;
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msg.body.light_command_msg.rear_light.custom_value = 50;
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parser.EncodeMessage(&msg, &frame);
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uint8_t expected_data[8] = {0x01, 0x01, 0x64, 0x03, 0x32, 0x00, 0x00, 0xe4};
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ASSERT_EQ(frame.can_id, CAN_MSG_LIGHT_COMMAND_ID);
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ASSERT_EQ(frame.can_dlc, 8);
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for (int i = 0; i < 8; ++i) {
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// printf("expecting: %x, getting: %x\n", expected_data[i], frame.data[i]);
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ASSERT_EQ(frame.data[i], expected_data[i]);
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}
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} |