test_ulc_node.cpp File Reference

#include <gtest/gtest.h>
#include <ros/ros.h>
#include <std_msgs/Bool.h>
#include <geometry_msgs/TwistStamped.h>
#include <dataspeed_ulc_msgs/UlcCmd.h>
#include <dataspeed_ulc_msgs/UlcReport.h>
#include <dataspeed_ulc_can/dispatch.h>
#include <can_msgs/Frame.h>
#include "MsgRx.h"

Include dependency graph for test_ulc_node.cpp:

Go to the source code of this file.

Functions
static void	checkImmediateCfg ()
MsgRx< MsgUlcCfg >	g_msg_ulc_cfg (ros::WallDuration(0.05))
MsgRx< MsgUlcCmd >	g_msg_ulc_cmd (ros::WallDuration(0.05))
MsgRx < dataspeed_ulc_msgs::UlcReport >	g_msg_ulc_report (ros::WallDuration(0.05))
int	main (int argc, char **argv)
void	recvCan (const can_msgs::FrameConstPtr &msg)
void	recvReport (const dataspeed_ulc_msgs::UlcReportConstPtr &msg)
	TEST (ULCNode, topics)
	TEST (ULCNode, cfgTiming)
	TEST (ULCNode, cmdRangeSaturation)
	TEST (ULCNode, outOfBoundsInputs)
	TEST (ULCNode, scaleFactors)
	TEST (ULCNode, dbwEnable)
	TEST (ULCNode, twistInputs)
	TEST (ULCNode, reportParsing)
template<class T >
static bool	waitForMsg (ros::WallDuration dur, const MsgRx< T > &msg_rx)
static bool	waitForTopics (ros::WallDuration dur)
Variables
const double	ACCEL_REPORT_SCALE_FACTOR = 0.05
const double	ANGULAR_ACCEL_SCALE_FACTOR = 0.02
const double	CURVATURE_SCALE_FACTOR = 0.0000061
double	g_cfg_freq
ros::Publisher	g_pub_can
ros::Publisher	g_pub_enable
ros::Publisher	g_pub_twist
ros::Publisher	g_pub_twist_stamped
ros::Publisher	g_pub_ulc_cmd
ros::Subscriber	g_sub_can
ros::Subscriber	g_sub_report
dataspeed_ulc_msgs::UlcCmd	g_ulc_cmd
const double	LATERAL_ACCEL_SCALE_FACTOR = 0.05
const double	LIN_VEL_SCALE_FACTOR = 0.0025
const double	LINEAR_ACCEL_SCALE_FACTOR = 0.02
const double	LINEAR_DECEL_SCALE_FACTOR = 0.02
const double	MAX_ANGLE_SCALE_FACTOR = 5.0
const double	MAX_RATE_SCALE_FACTOR = 8.0
ros::NodeHandle *	n
ros::NodeHandle *	pn
const double	SPEED_REPORT_SCALE_FACTOR = 0.02
const double	YAW_RATE_SCALE_FACTOR = 0.00025

---

Function Documentation

static void checkImmediateCfg

(

)

[static]

Definition at line 101 of file test_ulc_node.cpp.

MsgRx<MsgUlcCfg> g_msg_ulc_cfg

(

ros::

WallDuration0.05

)

MsgRx<MsgUlcCmd> g_msg_ulc_cmd

(

ros::

WallDuration0.05

)

MsgRx<dataspeed_ulc_msgs::UlcReport> g_msg_ulc_report

(

ros::

WallDuration0.05

)

int main	(	int	argc,
		char **	argv
	)

Definition at line 505 of file test_ulc_node.cpp.

void recvCan

(

const can_msgs::FrameConstPtr &

msg

)

Definition at line 48 of file test_ulc_node.cpp.

void recvReport

(

const dataspeed_ulc_msgs::UlcReportConstPtr &

msg

)

Definition at line 62 of file test_ulc_node.cpp.

TEST	(	ULCNode	,
		topics
	)

Definition at line 110 of file test_ulc_node.cpp.

TEST	(	ULCNode	,
		cfgTiming
	)

Definition at line 120 of file test_ulc_node.cpp.

TEST	(	ULCNode	,
		cmdRangeSaturation
	)

Definition at line 159 of file test_ulc_node.cpp.

TEST	(	ULCNode	,
		outOfBoundsInputs
	)

Definition at line 300 of file test_ulc_node.cpp.

TEST	(	ULCNode	,
		scaleFactors
	)

Definition at line 357 of file test_ulc_node.cpp.

TEST	(	ULCNode	,
		dbwEnable
	)

Definition at line 390 of file test_ulc_node.cpp.

TEST	(	ULCNode	,
		twistInputs
	)

Definition at line 436 of file test_ulc_node.cpp.

TEST	(	ULCNode	,
		reportParsing
	)

Definition at line 464 of file test_ulc_node.cpp.

template<class T >

static bool waitForMsg	(	ros::WallDuration	dur,
		const MsgRx< T > &	msg_rx
	)		[static]

Definition at line 68 of file test_ulc_node.cpp.

static bool waitForTopics

(

ros::WallDuration

dur

)

[static]

Definition at line 82 of file test_ulc_node.cpp.

---

Variable Documentation

const double ACCEL_REPORT_SCALE_FACTOR = 0.05

Definition at line 36 of file test_ulc_node.cpp.

const double ANGULAR_ACCEL_SCALE_FACTOR = 0.02

Definition at line 32 of file test_ulc_node.cpp.

const double CURVATURE_SCALE_FACTOR = 0.0000061

Definition at line 26 of file test_ulc_node.cpp.

double g_cfg_freq

Definition at line 21 of file test_ulc_node.cpp.

ros::Publisher g_pub_can

Definition at line 44 of file test_ulc_node.cpp.

ros::Publisher g_pub_enable

Definition at line 41 of file test_ulc_node.cpp.

ros::Publisher g_pub_twist

Definition at line 42 of file test_ulc_node.cpp.

ros::Publisher g_pub_twist_stamped

Definition at line 43 of file test_ulc_node.cpp.

ros::Publisher g_pub_ulc_cmd

Definition at line 40 of file test_ulc_node.cpp.

ros::Subscriber g_sub_can

Definition at line 45 of file test_ulc_node.cpp.

ros::Subscriber g_sub_report

Definition at line 46 of file test_ulc_node.cpp.

dataspeed_ulc_msgs::UlcCmd g_ulc_cmd

Definition at line 20 of file test_ulc_node.cpp.

const double LATERAL_ACCEL_SCALE_FACTOR = 0.05

Definition at line 31 of file test_ulc_node.cpp.

const double LIN_VEL_SCALE_FACTOR = 0.0025

Definition at line 24 of file test_ulc_node.cpp.

const double LINEAR_ACCEL_SCALE_FACTOR = 0.02

Definition at line 29 of file test_ulc_node.cpp.

const double LINEAR_DECEL_SCALE_FACTOR = 0.02

Definition at line 30 of file test_ulc_node.cpp.

const double MAX_ANGLE_SCALE_FACTOR = 5.0

Definition at line 37 of file test_ulc_node.cpp.

const double MAX_RATE_SCALE_FACTOR = 8.0

Definition at line 38 of file test_ulc_node.cpp.

ros::NodeHandle* n

Definition at line 14 of file test_ulc_node.cpp.

ros::NodeHandle * pn

Definition at line 14 of file test_ulc_node.cpp.

const double SPEED_REPORT_SCALE_FACTOR = 0.02

Definition at line 35 of file test_ulc_node.cpp.

const double YAW_RATE_SCALE_FACTOR = 0.00025

Definition at line 25 of file test_ulc_node.cpp.