communication_test.cpp

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#include <utility>
#include <iostream>
#include <iomanip>
#include "ipa_canopen_core/canopen.h"
#include <sstream>

#include <gtest/gtest.h>


TEST(IPAcanopen, communicationTest)
{

    bool call_success = true;


    canopen::NMTmsg.ID = 0;
    canopen::NMTmsg.MSGTYPE = 0x00;
    canopen::NMTmsg.LEN = 2;

    canopen::syncMsg.ID = 0x80;
    canopen::syncMsg.MSGTYPE = 0x00;

    canopen::syncMsg.LEN = 0x00;

    std::string deviceFile = "/dev/pcan32";//std::string(argv[1]);
    canopen::baudRate = "500K";

    if (!canopen::openConnection(deviceFile, canopen::baudRate)){
        std::cout << "Cannot open CAN device; aborting." << std::endl;
        call_success = false;
        //exit(EXIT_FAILURE);
    }
    else{
        std::cout << "Connection to CAN bus established" << std::endl;
    }
    
    EXPECT_TRUE(call_success);

    uint16_t CANid = 1;//std::stoi(std::string(argv[2]));

    canopen::devices[ CANid ] = canopen::Device(CANid);
    std::this_thread::sleep_for(std::chrono::milliseconds(10));
    canopen::sendNMT(CANid, canopen::NMT_START_REMOTE_NODE);
    std::this_thread::sleep_for(std::chrono::milliseconds(10));

    std::this_thread::sleep_for(std::chrono::milliseconds(10));


    std::shared_ptr<TPCANRdMsg> m;


    canopen::readErrorsRegister(CANid, m);

    /***************************************************************/
    //          Manufacturer specific errors register
    /***************************************************************/
    canopen::readManErrReg(CANid, m);

    /**************************
     * Hardware and Software Information
    *************************/

    std::vector<uint16_t> vendor_id = canopen::obtainVendorID(CANid, m);
    uint16_t rev_number = canopen::obtainRevNr(CANid, m);
    std::vector<uint16_t> product_code = canopen::obtainProdCode(CANid, m);
    std::vector<char> manufacturer_device_name = canopen::obtainManDevName(CANid,m);
    std::vector<char> manufacturer_hw_version =  canopen::obtainManHWVersion(CANid, m);
    std::vector<char> manufacturer_sw_version =  canopen::obtainManSWVersion(CANid, m);

    /****
     *Printing the data
     */

    std::cout << "vendor_id=0x";

    for (auto it : vendor_id)
    {
       std::cout <<  std::hex << it;
    }

    std::cout << std::endl;

    std::cout << "revision_number: "<< std::hex << int(rev_number) << std::dec << std::endl;
    std::cout << "device_name:";

    for (auto it : manufacturer_device_name)
    {
       std::cout << it;
    }

    std::cout << std::endl;

    std::cout << "hardware_version:";

    for (auto it : manufacturer_hw_version)
    {
       std::cout << it;
    }

    std::cout << std::endl;

    std::cout << "software_version:";

    for (auto it : manufacturer_sw_version)
    {
       std::cout << it;
    }

    std::cout << std::endl;
}
        
int main(int argc, char *argv[])
{
    testing::InitGoogleTest(&argc, argv);
  
    return RUN_ALL_TESTS();

}