compAIR/libcreate
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Implement methods for getting overcurrent status. (#57)

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Daniel Smith 2020-11-01 20:42:57 -05:00 • committed by GitHub
parent ccf6d0cdc0
commit 850b011a55
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3 changed files with 43 additions and 13 deletions
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30
src/create.cpp
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@ -1036,6 +1036,36 @@ namespace create {
}
}
bool Create::isSideBrushOvercurrent() const {
if (data->isValidPacketID(ID_OVERCURRENTS)) {
return (GET_DATA(ID_OVERCURRENTS) & 0x01) != 0;
}
else {
CERR("[create::Create] ", "Overcurrent sensor not supported!");
return false;
}
}
bool Create::isMainBrushOvercurrent() const {
if (data->isValidPacketID(ID_OVERCURRENTS)) {
return (GET_DATA(ID_OVERCURRENTS) & 0x04) != 0;
}
else {
CERR("[create::Create] ", "Overcurrent sensor not supported!");
return false;
}
}
bool Create::isWheelOvercurrent() const {
if (data->isValidPacketID(ID_OVERCURRENTS)) {
return (GET_DATA(ID_OVERCURRENTS) & 0x18) != 0;
}
else {
CERR("[create::Create] ", "Overcurrent sensor not supported!");
return false;
}
}
float Create::getLeftWheelDistance() const {
return totalLeftDist;
}

2
src/data.cpp
View file

@ -17,7 +17,7 @@ namespace create {
ADD_PACKET(ID_CLIFF_FRONT_RIGHT, 1, "cliff_front_right", V_ALL);
ADD_PACKET(ID_CLIFF_RIGHT, 1, "cliff_right", V_ALL);
ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall", V_ALL);
ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents", V_1);
ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents", V_ALL);
ADD_PACKET(ID_DIRT_DETECT_LEFT, 1, "dirt_detect_left", V_ALL);
ADD_PACKET(ID_DIRT_DETECT_RIGHT, 1, "dirt_detect_right", V_1);
ADD_PACKET(ID_IR_OMNI, 1, "ir_opcode", V_ALL);

24
tests/test_data.cpp
View file

@ -52,21 +52,21 @@ TEST(DataTest, Constructor)
// Number of packets for a given protocol are determined in the Data() constructor
TEST(DataTest, GetNumPackets)
{
// Number of packets shared by all protocols is 16
// Number of packets shared by all protocols is 17
create::Data data_v_1(create::V_1);
// Number exclusive to V_1 = 4
// 16 + 4 = 20
// Number exclusive to V_1 = 3
// 17 + 3 = 20
EXPECT_EQ(static_cast<int>(data_v_1.getNumPackets()), 20);
create::Data data_v_2(create::V_2);
// Number exclusive to V_2 = 3
// 16 + 3 = 19
EXPECT_EQ(static_cast<int>(data_v_2.getNumPackets()), 19);
// 17 + 3 = 20
EXPECT_EQ(static_cast<int>(data_v_2.getNumPackets()), 20);
create::Data data_v_3(create::V_3);
// Number exclusive to V_3 = 13
// 16 + 13 = 29
EXPECT_EQ(static_cast<int>(data_v_3.getNumPackets()), 29);
// 17 + 13 = 30
EXPECT_EQ(static_cast<int>(data_v_3.getNumPackets()), 30);
create::Data data_v_all(create::V_ALL);
EXPECT_EQ(static_cast<int>(data_v_all.getNumPackets()), 33);
@ -108,7 +108,7 @@ TEST(DataTest, GetPacketIDs)
create::Data data_v_3(create::V_3);
const std::vector<uint8_t> packet_ids = data_v_3.getPacketIDs();
// Vector should have same length as reported by getNumPackets()
ASSERT_EQ(static_cast<int>(packet_ids.size()), 29);
ASSERT_EQ(static_cast<int>(packet_ids.size()), 30);
// Vector should contain ID_LEFT_ENC
bool found = false;
@ -124,18 +124,18 @@ TEST(DataTest, GetPacketIDs)
TEST(DataTest, GetTotalDataBytes)
{
// All protocols have 20 mutual data bytes
// V_1 has an additional 6 bytes
// All protocols have 21 mutual data bytes
// V_1 has an additional 5 bytes
create::Data data_v_1(create::V_1);
EXPECT_EQ(static_cast<int>(data_v_1.getTotalDataBytes()), 26);
// V_2 has an additional 5 bytes
create::Data data_v_2(create::V_2);
EXPECT_EQ(static_cast<int>(data_v_2.getTotalDataBytes()), 25);
EXPECT_EQ(static_cast<int>(data_v_2.getTotalDataBytes()), 26);
// V_3 has an additional 21 bytes
create::Data data_v_3(create::V_3);
EXPECT_EQ(static_cast<int>(data_v_3.getTotalDataBytes()), 41);
EXPECT_EQ(static_cast<int>(data_v_3.getTotalDataBytes()), 42);
}
TEST(DataTest, IsValidPacketID)