hfl110dcu-test.cpp

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#include <gtest/gtest.h>

#include <string>
#include <vector>

#include "camera_commander/camera_commander.h"
#include "ros/ros.h"

TEST(HFL110DCUTestSuite, testTEST)
{
  ASSERT_EQ("true", "true");
}

TEST(HFL110DCUTestSuite, testDefaultParams)
{
  // TODO(evan_flynn): this assumes the launch file defaults are set to HFL110DCU and left
  // for model and frame_id
  ros::NodeHandle nh("hfl110dcu_01");
  std::string model, version, frame_id, parent_frame, interface;
  std::string camera_ip, computer_ip;
  int frame_port, object_port;

  nh.getParam("model", model);
  nh.getParam("version", version);
  nh.getParam("frame_id", frame_id);
  nh.getParam("parent_frame", parent_frame);
  nh.getParam("ethernet_interface", interface);
  nh.getParam("camera_ip_address", camera_ip);
  nh.getParam("computer_ip_address", computer_ip);
  nh.getParam("frame_data_port", frame_port);
  nh.getParam("object_data_port", object_port);

  ASSERT_EQ(model, "hfl110dcu");
  ASSERT_EQ(version, "v1");
  ASSERT_EQ(frame_id, "hfl110dcu_01");
  ASSERT_EQ(interface, "eno1");
  ASSERT_EQ(camera_ip, "192.168.10.21");
  ASSERT_EQ(computer_ip, "192.168.10.5");
  ASSERT_EQ(frame_port, 57410);
  ASSERT_EQ(object_port, 57411);
}