gtest_eyelids_node.cpp
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00001 
00024 #include "gtest/gtest.h"
00025 #include "serial_communication_mock.h"
00026 #include "eyelids_node.h"
00027 
00028 using testing::_;
00029 using testing::DoAll;
00030 using testing::SetArgumentPointee;
00031 using testing::AnyNumber;
00032 using testing::Return;
00033 
00034 TEST(Eyelids, MoveFail_OpenPort)
00035 {
00036     MockSerialCommunication mock;
00037 
00038     EXPECT_CALL(mock, set_serial_device(_))
00039         .Times(1);
00040     EXPECT_CALL(mock, open_port(_))
00041         .Times(1)
00042         .WillOnce(Return(-1));
00043     EXPECT_CALL(mock, close_port(_))
00044         .Times(1)
00045         .WillOnce(Return(0));
00046     EXPECT_CALL(mock, send_character(_))
00047         .Times(AnyNumber())
00048         .WillRepeatedly(Return(-1));
00049 
00050     EyelidsNode eyelids_node(&mock);
00051 
00052     // fail case
00053     ASSERT_EQ(-1, eyelids_node.move(0));
00054 }
00055 
00056 TEST(Eyelids, MoveSuccess_ClosePort)
00057 {
00058     MockSerialCommunication mock;
00059 
00060     EXPECT_CALL(mock, set_serial_device(_))
00061         .Times(1);
00062     EXPECT_CALL(mock, open_port(_))
00063         .Times(1)
00064         .WillOnce(Return(0));
00065     EXPECT_CALL(mock, close_port(_))
00066         .Times(1)
00067         .WillOnce(Return(-1));
00068     EXPECT_CALL(mock, send_character(_))
00069         .Times(AnyNumber())
00070         .WillRepeatedly(Return(0));
00071 
00072     EyelidsNode eyelids_node(&mock);
00073 
00074     // fail case
00075     ASSERT_EQ(0, eyelids_node.move(0));
00076 }
00077 
00078 TEST(Eyelids, MoveFail_SendChar)
00079 {
00080     MockSerialCommunication mock;
00081 
00082     EXPECT_CALL(mock, set_serial_device(_))
00083         .Times(1);
00084     EXPECT_CALL(mock, open_port(_))
00085         .Times(1)
00086         .WillOnce(Return(0));
00087     EXPECT_CALL(mock, close_port(_))
00088         .Times(1)
00089         .WillOnce(Return(0));
00090     EXPECT_CALL(mock, send_character(_))
00091         .Times(AnyNumber())
00092         .WillRepeatedly(Return(-1));
00093 
00094     EyelidsNode eyelids_node(&mock);
00095 
00096     // fail case
00097     ASSERT_EQ(-1, eyelids_node.move(0));
00098 }
00099 
00100 TEST(Eyelids, MoveSuccess)
00101 {
00102     MockSerialCommunication mock;
00103 
00104     EXPECT_CALL(mock, set_serial_device(_))
00105         .Times(1);
00106     EXPECT_CALL(mock, open_port(_))
00107         .Times(1)
00108         .WillOnce(Return(0));
00109     EXPECT_CALL(mock, close_port(_))
00110         .Times(1)
00111         .WillOnce(Return(0));
00112     EXPECT_CALL(mock, send_character(_))
00113         .Times(AnyNumber())
00114         .WillRepeatedly(Return(0));
00115 
00116     EyelidsNode eyelids_node(&mock);
00117 
00118     // success cases
00119     for (int j = 0; j < 255; j += 50) {
00120         ASSERT_EQ(0, eyelids_node.move(j));
00121     }
00122 }
00123 
00124 int main(int argc, char **argv)
00125 {
00126     ros::init(argc, argv, "eyelids_tests");
00127 
00128     ::testing::InitGoogleMock(&argc, argv);
00129 
00130     return RUN_ALL_TESTS();
00131 }


eyelids
Author(s): Raul Perula-Martinez
autogenerated on Wed Apr 1 2015 10:17:19