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| 1 | +/* |
| 2 | + * test_driver.cpp |
| 3 | + * |
| 4 | + * License: BSD-3-Clause |
| 5 | + * |
| 6 | + * Copyright (c) 2015-2023 RT Corporation <support@rt-net.jp> |
| 7 | + * All rights reserved. |
| 8 | + * |
| 9 | + * Redistribution and use in source and binary forms, with or without |
| 10 | + * modification, are permitted provided that the following conditions are met: |
| 11 | + * |
| 12 | + * 1. Redistributions of source code must retain the above copyright notice, |
| 13 | + * this list of conditions and the following disclaimer. |
| 14 | + * 2. Redistributions in binary form must reproduce the above copyright |
| 15 | + * notice, this list of conditions and the following disclaimer in the |
| 16 | + * documentation and/or other materials provided with the distribution. |
| 17 | + * 3. Neither the name of RT Corporation nor the names of its |
| 18 | + * contributors may be used to endorse or promote products derived from |
| 19 | + * this software without specific prior written permission. |
| 20 | + * |
| 21 | + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 22 | + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 23 | + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 24 | + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 25 | + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 26 | + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 27 | + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 28 | + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 29 | + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 30 | + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 31 | + * POSSIBILITY OF SUCH DAMAGE. |
| 32 | + */ |
| 33 | + |
| 34 | +#include <array> |
| 35 | +#include <string> |
| 36 | +#include <gtest/gtest.h> |
| 37 | +#include "fakeit.hpp" |
| 38 | +#include "rt_usb_9axisimu_driver/rt_usb_9axisimu_driver.hpp" |
| 39 | +#include "rt_usb_9axisimu_driver/rt_usb_9axisimu.hpp" |
| 40 | + |
| 41 | +using fakeit::Mock; |
| 42 | +using fakeit::When; |
| 43 | +using rt_usb_9axisimu::SerialPort; |
| 44 | + |
| 45 | +Mock<SerialPort> create_serial_port_mock(void) { |
| 46 | + Mock<SerialPort> mock; |
| 47 | + When(Method(mock, setPort)).AlwaysReturn(); |
| 48 | + When(Method(mock, openPort)).AlwaysReturn(true); |
| 49 | + When(Method(mock, openSerialPort)).AlwaysReturn(true); |
| 50 | + When(Method(mock, closeSerialPort)).AlwaysReturn(); |
| 51 | + When(Method(mock, readFromDevice)).AlwaysReturn(0); |
| 52 | + When(Method(mock, writeToDevice)).AlwaysReturn(0); |
| 53 | + return mock; |
| 54 | +} |
| 55 | + |
| 56 | +TEST(TestDriver, startCommunication) |
| 57 | +{ |
| 58 | + // Expect the startCommunication method to be called twice and return true then false |
| 59 | + auto mock = create_serial_port_mock(); |
| 60 | + When(Method(mock, openSerialPort)).Return(true, false); // Return true then false |
| 61 | + |
| 62 | + RtUsb9axisimuRosDriver driver( |
| 63 | + std::unique_ptr<SerialPort>(&mock.get())); |
| 64 | + |
| 65 | + EXPECT_TRUE(driver.startCommunication()); |
| 66 | + EXPECT_FALSE(driver.startCommunication()); |
| 67 | +} |
| 68 | + |
| 69 | +TEST(TestDriver, initialize_member_variables) |
| 70 | +{ |
| 71 | + // Expect member variables of the driver instance to be initialised |
| 72 | + auto mock = create_serial_port_mock(); |
| 73 | + |
| 74 | + RtUsb9axisimuRosDriver driver( |
| 75 | + std::unique_ptr<SerialPort>(&mock.get())); |
| 76 | + |
| 77 | + EXPECT_FALSE(driver.hasCompletedFormatCheck()); |
| 78 | + EXPECT_FALSE(driver.hasBinaryDataFormat()); |
| 79 | + EXPECT_FALSE(driver.hasAsciiDataFormat()); |
| 80 | + EXPECT_FALSE(driver.hasRefreshedImuData()); |
| 81 | +} |
| 82 | + |
| 83 | +TEST(TestDriver, checkDataFormat_Binary) |
| 84 | +{ |
| 85 | + // Expect to check correctly when read data in binary format |
| 86 | + auto mock = create_serial_port_mock(); |
| 87 | + |
| 88 | + When(Method(mock, readFromDevice)).Do([]( |
| 89 | + unsigned char* buf, unsigned int buf_size) { |
| 90 | + rt_usb_9axisimu::Consts consts; |
| 91 | + unsigned char dummy_bin_imu_data[consts.IMU_BIN_DATA_SIZE] = {0}; |
| 92 | + dummy_bin_imu_data[consts.IMU_BIN_HEADER_R] = 0x52; // R |
| 93 | + dummy_bin_imu_data[consts.IMU_BIN_HEADER_T] = 0x54; // T |
| 94 | + for(int i = 0; i < consts.IMU_BIN_DATA_SIZE; i++) { |
| 95 | + buf[i] = dummy_bin_imu_data[i]; |
| 96 | + } |
| 97 | + buf_size = consts.IMU_BIN_DATA_SIZE; |
| 98 | + return buf_size; |
| 99 | + }); |
| 100 | + |
| 101 | + RtUsb9axisimuRosDriver driver( |
| 102 | + std::unique_ptr<SerialPort>(&mock.get())); |
| 103 | + |
| 104 | + driver.checkDataFormat(); |
| 105 | + |
| 106 | + EXPECT_TRUE(driver.hasCompletedFormatCheck()); |
| 107 | + EXPECT_TRUE(driver.hasBinaryDataFormat()); |
| 108 | + EXPECT_FALSE(driver.hasAsciiDataFormat()); |
| 109 | +} |
| 110 | + |
| 111 | +TEST(TestDriver, checkDataFormat_ASCII) |
| 112 | +{ |
| 113 | + // Expect to check correctly when read data in ASCII format |
| 114 | + auto mock = create_serial_port_mock(); |
| 115 | + |
| 116 | + When(Method(mock, readFromDevice)).Do([]( |
| 117 | + unsigned char* buf, unsigned int buf_size) { |
| 118 | + rt_usb_9axisimu::Consts consts; |
| 119 | + std::array<std::string, consts.IMU_ASCII_DATA_SIZE> dummy_ascii_imu_data; |
| 120 | + dummy_ascii_imu_data[consts.IMU_ASCII_TIMESTAMP] = "0"; |
| 121 | + dummy_ascii_imu_data[consts.IMU_ASCII_GYRO_X] = "0.000000"; |
| 122 | + dummy_ascii_imu_data[consts.IMU_ASCII_GYRO_Y] = "0.000000"; |
| 123 | + dummy_ascii_imu_data[consts.IMU_ASCII_GYRO_Z] = "0.000000"; |
| 124 | + dummy_ascii_imu_data[consts.IMU_ASCII_ACC_X] = "0.000000"; |
| 125 | + dummy_ascii_imu_data[consts.IMU_ASCII_ACC_Y] = "0.000000"; |
| 126 | + dummy_ascii_imu_data[consts.IMU_ASCII_ACC_Z] = "0.000000"; |
| 127 | + dummy_ascii_imu_data[consts.IMU_ASCII_MAG_X] = "0.000000"; |
| 128 | + dummy_ascii_imu_data[consts.IMU_ASCII_MAG_Y] = "0.000000"; |
| 129 | + dummy_ascii_imu_data[consts.IMU_ASCII_MAG_Z] = "0.000000"; |
| 130 | + dummy_ascii_imu_data[consts.IMU_ASCII_TEMP] = "0.000000"; |
| 131 | + std::string str = ""; |
| 132 | + std::string split_char = ","; |
| 133 | + for(int i = 0; i < consts.IMU_ASCII_DATA_SIZE; i++) { |
| 134 | + str += dummy_ascii_imu_data[i]; |
| 135 | + if(i != consts.IMU_ASCII_DATA_SIZE - 1) str += split_char; |
| 136 | + } |
| 137 | + for(int i = 0; i < int(str.length()); i++) { |
| 138 | + buf[i] = str[i]; |
| 139 | + } |
| 140 | + buf_size = consts.IMU_BIN_DATA_SIZE; |
| 141 | + return buf_size; |
| 142 | + }); |
| 143 | + |
| 144 | + RtUsb9axisimuRosDriver driver( |
| 145 | + std::unique_ptr<SerialPort>(&mock.get())); |
| 146 | + |
| 147 | + driver.checkDataFormat(); |
| 148 | + driver.checkDataFormat(); |
| 149 | + |
| 150 | + EXPECT_TRUE(driver.hasCompletedFormatCheck()); |
| 151 | + EXPECT_TRUE(driver.hasAsciiDataFormat()); |
| 152 | + EXPECT_FALSE(driver.hasBinaryDataFormat()); |
| 153 | +} |
| 154 | + |
| 155 | +TEST(TestDriver, checkDataFormat_not_Binary_or_ASCII) |
| 156 | +{ |
| 157 | + // Expect to check correctly when read data in not Binary or ASCII format |
| 158 | + auto mock = create_serial_port_mock(); |
| 159 | + |
| 160 | + When(Method(mock, readFromDevice)).Do([]( |
| 161 | + unsigned char* buf, unsigned int buf_size) { |
| 162 | + rt_usb_9axisimu::Consts consts; |
| 163 | + unsigned char dummy_data_not_binary_or_ascii[] = |
| 164 | + "dummy_data_not_binary_or_ascii"; |
| 165 | + for(int i = 0; i < int(sizeof(dummy_data_not_binary_or_ascii)); i++) { |
| 166 | + buf[i] = dummy_data_not_binary_or_ascii[i]; |
| 167 | + } |
| 168 | + buf_size = consts.IMU_BIN_DATA_SIZE; |
| 169 | + return buf_size; |
| 170 | + }); |
| 171 | + |
| 172 | + RtUsb9axisimuRosDriver driver( |
| 173 | + std::unique_ptr<SerialPort>(&mock.get())); |
| 174 | + |
| 175 | + driver.checkDataFormat(); |
| 176 | + |
| 177 | + EXPECT_FALSE(driver.hasCompletedFormatCheck()); |
| 178 | + EXPECT_FALSE(driver.hasBinaryDataFormat()); |
| 179 | + EXPECT_FALSE(driver.hasAsciiDataFormat()); |
| 180 | +} |
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