Add unit tests (gtests)
Testing as much as we can without hardware
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Jacob Perron
jacobperron
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a70dee6605
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3fca0c5798
8 changed files with 615 additions and 1 deletions
169
tests/test_data.cpp
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169
tests/test_data.cpp
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/**
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Software License Agreement (BSD)
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\file test_data.cpp
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\authors Jacob Perron <jperron@sfu.ca>
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\copyright Copyright (c) 2018, Autonomy Lab (Simon Fraser University), All rights reserved.
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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 notice,
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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 Autonomy Lab nor the names of its contributors may
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be used to endorse or promote products derived from this software without
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specific prior written permission.
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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 HOLDER 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 "create/data.h"
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#include "create/packet.h"
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#include "create/types.h"
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#include "gtest/gtest.h"
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#include <boost/shared_ptr.hpp>
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TEST(DataTest, Constructor)
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{
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create::Data data_default;
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create::Data data_v_1(create::V_1);
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create::Data data_v_2(create::V_2);
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create::Data data_v_3(create::V_3);
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create::Data data_v_all(create::V_ALL);
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}
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// Number of packets for a given protocol are determined in the Data() constructor
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TEST(DataTest, GetNumPackets)
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{
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// Number of packets shared by all protocols is 16
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create::Data data_v_1(create::V_1);
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// Number exclusive to V_1 = 4
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// 16 + 4 = 20
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EXPECT_EQ(static_cast<int>(data_v_1.getNumPackets()), 20);
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create::Data data_v_2(create::V_2);
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// Number exclusive to V_2 = 3
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// 16 + 3 = 19
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EXPECT_EQ(static_cast<int>(data_v_2.getNumPackets()), 19);
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create::Data data_v_3(create::V_3);
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// Number exclusive to V_3 = 13
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// 16 + 13 = 29
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EXPECT_EQ(static_cast<int>(data_v_3.getNumPackets()), 29);
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create::Data data_v_all(create::V_ALL);
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EXPECT_EQ(static_cast<int>(data_v_all.getNumPackets()), 33);
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}
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TEST(DataTest, GetPacket)
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{
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// Get a packet exclusive to V_1
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create::Data data_v_1(create::V_1);
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boost::shared_ptr<create::Packet> v_1_packet_ptr = data_v_1.getPacket(create::ID_OVERCURRENTS);
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EXPECT_NE(v_1_packet_ptr, boost::shared_ptr<create::Packet>())
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<< "ID_OVERCURRENTS packet not found for protocol V_1";
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EXPECT_EQ(static_cast<int>(v_1_packet_ptr->nbytes), 1);
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EXPECT_EQ(v_1_packet_ptr->info, std::string("overcurrents"));
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// Get a packet for V_2
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create::Data data_v_2(create::V_2);
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boost::shared_ptr<create::Packet> v_2_packet_ptr = data_v_2.getPacket(create::ID_DISTANCE);
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EXPECT_NE(v_2_packet_ptr, boost::shared_ptr<create::Packet>())
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<< "ID_DISTANCE packet not found for protocol V_2";
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EXPECT_EQ(static_cast<int>(v_2_packet_ptr->nbytes), 2);
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EXPECT_EQ(v_2_packet_ptr->info, std::string("distance"));
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// Get a packet exclusive to V_3
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create::Data data_v_3(create::V_3);
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boost::shared_ptr<create::Packet> v_3_packet_ptr = data_v_3.getPacket(create::ID_LIGHT_FRONT_RIGHT);
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EXPECT_NE(v_3_packet_ptr, boost::shared_ptr<create::Packet>())
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<< "ID_LIGHT_FRONT_RIGHT packet not found for protocol V_3";
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EXPECT_EQ(static_cast<int>(v_3_packet_ptr->nbytes), 2);
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EXPECT_EQ(v_3_packet_ptr->info, std::string("light_bumper_front_right"));
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// Get a non-existent packet
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boost::shared_ptr<create::Packet> not_a_packet_ptr = data_v_3.getPacket(60);
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EXPECT_EQ(not_a_packet_ptr, boost::shared_ptr<create::Packet>());
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}
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TEST(DataTest, GetPacketIDs)
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{
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create::Data data_v_3(create::V_3);
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const std::vector<uint8_t> packet_ids = data_v_3.getPacketIDs();
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// Vector should have same length as reported by getNumPackets()
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ASSERT_EQ(static_cast<int>(packet_ids.size()), 29);
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// Vector should contain ID_LEFT_ENC
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bool found = false;
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for (std::size_t i = 0; (i < packet_ids.size()) && !found; i++)
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{
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if (packet_ids[i] == create::ID_LEFT_ENC)
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{
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found = true;
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}
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}
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EXPECT_TRUE(found) << "ID_LEFT_ENC packet ID not returned for protocol V_3";
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}
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TEST(DataTest, GetTotalDataBytes)
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{
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// All protocols have 20 mutual data bytes
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// V_1 has an additional 6 bytes
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create::Data data_v_1(create::V_1);
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EXPECT_EQ(static_cast<int>(data_v_1.getTotalDataBytes()), 26);
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// V_2 has an additional 5 bytes
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create::Data data_v_2(create::V_2);
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EXPECT_EQ(static_cast<int>(data_v_2.getTotalDataBytes()), 25);
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// V_3 has an additional 21 bytes
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create::Data data_v_3(create::V_3);
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EXPECT_EQ(static_cast<int>(data_v_3.getTotalDataBytes()), 41);
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}
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TEST(DataTest, IsValidPacketID)
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{
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create::Data data_v_1(create::V_1);
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EXPECT_TRUE(data_v_1.isValidPacketID(create::ID_DIRT_DETECT_RIGHT))
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<< "ID_DIRT_DETECT_RIGHT packet not found for protocol V_1";
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EXPECT_FALSE(data_v_1.isValidPacketID(create::ID_OI_MODE))
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<< "ID_OI_MODE packet should not exist for protocol V_1";
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// V_2 has an additional 5 bytes
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create::Data data_v_2(create::V_2);
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EXPECT_TRUE(data_v_2.isValidPacketID(create::ID_ANGLE))
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<< "ID_ANGLE packet not found for protocol V_2";
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EXPECT_FALSE(data_v_2.isValidPacketID(create::ID_LIGHT))
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<< "ID_LIGHT packet should not exist for protocol V_2";
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// V_3 has an additional 21 bytes
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create::Data data_v_3(create::V_3);
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EXPECT_TRUE(data_v_3.isValidPacketID(create::ID_STASIS))
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<< "ID_STATIS packet not found for protocol V_3";
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EXPECT_FALSE(data_v_3.isValidPacketID(create::ID_DISTANCE))
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<< "ID_DISTANCE packet should not exist for protocol V_3";
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}
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TEST(DataTest, ValidateAll)
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{
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create::Data data_v_3(create::V_3);
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// Don't crash
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data_v_3.validateAll();
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}
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