communication_test.cpp
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00001 
00060 #include <utility>
00061 #include <iostream>
00062 #include <iomanip>
00063 #include "ipa_canopen_core/canopen.h"
00064 #include <sstream>
00065 
00066 #include <gtest/gtest.h>
00067 
00068 
00069 TEST(IPAcanopen, communicationTest)
00070 {
00071 
00072     bool call_success = true;
00073 
00074 
00075     canopen::NMTmsg.ID = 0;
00076     canopen::NMTmsg.MSGTYPE = 0x00;
00077     canopen::NMTmsg.LEN = 2;
00078 
00079     canopen::syncMsg.ID = 0x80;
00080     canopen::syncMsg.MSGTYPE = 0x00;
00081 
00082     canopen::syncMsg.LEN = 0x00;
00083 
00084     std::string deviceFile = "/dev/pcan32";//std::string(argv[1]);
00085     canopen::baudRate = "500K";
00086 
00087     if (!canopen::openConnection(deviceFile, canopen::baudRate)){
00088         std::cout << "Cannot open CAN device; aborting." << std::endl;
00089         call_success = false;
00090         //exit(EXIT_FAILURE);
00091     }
00092     else{
00093         std::cout << "Connection to CAN bus established" << std::endl;
00094     }
00095     
00096     EXPECT_TRUE(call_success);
00097 
00098     uint16_t CANid = 1;//std::stoi(std::string(argv[2]));
00099 
00100     canopen::devices[ CANid ] = canopen::Device(CANid);
00101     std::this_thread::sleep_for(std::chrono::milliseconds(10));
00102     canopen::sendNMT(CANid, canopen::NMT_START_REMOTE_NODE);
00103     std::this_thread::sleep_for(std::chrono::milliseconds(10));
00104 
00105     std::this_thread::sleep_for(std::chrono::milliseconds(10));
00106 
00107 
00108     std::shared_ptr<TPCANRdMsg> m;
00109 
00110 
00111     canopen::readErrorsRegister(CANid, m);
00112 
00113     /***************************************************************/
00114     //          Manufacturer specific errors register
00115     /***************************************************************/
00116     canopen::readManErrReg(CANid, m);
00117 
00118     /**************************
00119      * Hardware and Software Information
00120     *************************/
00121 
00122     std::vector<uint16_t> vendor_id = canopen::obtainVendorID(CANid, m);
00123     uint16_t rev_number = canopen::obtainRevNr(CANid, m);
00124     std::vector<uint16_t> product_code = canopen::obtainProdCode(CANid, m);
00125     std::vector<char> manufacturer_device_name = canopen::obtainManDevName(CANid,m);
00126     std::vector<char> manufacturer_hw_version =  canopen::obtainManHWVersion(CANid, m);
00127     std::vector<char> manufacturer_sw_version =  canopen::obtainManSWVersion(CANid, m);
00128 
00129     /****
00130      *Printing the data
00131      */
00132 
00133     std::cout << "vendor_id=0x";
00134 
00135     for (auto it : vendor_id)
00136     {
00137        std::cout <<  std::hex << it;
00138     }
00139 
00140     std::cout << std::endl;
00141 
00142     std::cout << "revision_number: "<< std::hex << int(rev_number) << std::dec << std::endl;
00143     std::cout << "device_name:";
00144 
00145     for (auto it : manufacturer_device_name)
00146     {
00147        std::cout << it;
00148     }
00149 
00150     std::cout << std::endl;
00151 
00152     std::cout << "hardware_version:";
00153 
00154     for (auto it : manufacturer_hw_version)
00155     {
00156        std::cout << it;
00157     }
00158 
00159     std::cout << std::endl;
00160 
00161     std::cout << "software_version:";
00162 
00163     for (auto it : manufacturer_sw_version)
00164     {
00165        std::cout << it;
00166     }
00167 
00168     std::cout << std::endl;
00169 }
00170         
00171 int main(int argc, char *argv[])
00172 {
00173     testing::InitGoogleTest(&argc, argv);
00174   
00175     return RUN_ALL_TESTS();
00176 
00177 }
00178 


ipa_canopen_core
Author(s): Tobias Sing, Thiago de Freitas
autogenerated on Mon Oct 6 2014 00:59:25