2b9591f0f7
* Replace boost features with C++11 equivalents Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Include <cmath> in util.h Needed for std::abs Signed-off-by: Jacob Perron <jacob@openrobotics.org>
90 lines
3.3 KiB
C++
90 lines
3.3 KiB
C++
/**
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Software License Agreement (BSD)
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\file test_serial_stream.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/serial_stream.h"
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#include "gtest/gtest.h"
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#include <memory>
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TEST(SerialStreamTest, Constructor)
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{
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std::shared_ptr<create::Data> data_ptr = std::make_shared<create::Data>();
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create::SerialStream serial_stream(data_ptr);
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}
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TEST(SerialStreamTest, Connected)
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{
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std::shared_ptr<create::Data> data_ptr = std::make_shared<create::Data>();
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create::SerialStream serial_stream(data_ptr);
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// Did not call connect and nothing to connect to, so expect false
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EXPECT_FALSE(serial_stream.connected());
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}
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TEST(SerialStreamTest, Disconnect)
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{
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std::shared_ptr<create::Data> data_ptr = std::make_shared<create::Data>();
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create::SerialStream serial_stream(data_ptr);
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// Not connected, but should not fail
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serial_stream.disconnect();
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}
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TEST(SerialStreamTest, NumPackets)
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{
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std::shared_ptr<create::Data> data_ptr = std::make_shared<create::Data>();
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create::SerialStream serial_stream(data_ptr);
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// Not connected, so zero packets should have been received
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EXPECT_EQ(serial_stream.getNumCorruptPackets(), 0);
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EXPECT_EQ(serial_stream.getTotalPackets(), 0);
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}
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TEST(SerialStreamTest, Send)
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{
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std::shared_ptr<create::Data> data_ptr = std::make_shared<create::Data>();
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create::SerialStream serial_stream(data_ptr);
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// Some bytes to send (to set date)
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uint8_t bytes[4] = { create::OC_DATE, 0, 1, 2 };
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// Not connected, so failure expected
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EXPECT_FALSE(serial_stream.send(bytes, 4));
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}
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TEST(SerialStreamTest, SendOpcode)
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{
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std::shared_ptr<create::Data> data_ptr = std::make_shared<create::Data>();
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create::SerialStream serial_stream(data_ptr);
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// Not connected, so failure expected
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EXPECT_FALSE(serial_stream.sendOpcode(create::OC_POWER));
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}
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