measurement_report_header_test.cpp

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#include <gtest/gtest.h>
#include <boost/asio.hpp>

#include "omron_os32c_driver/measurement_report_header.h"
#include "odva_ethernetip/serialization/serializable_buffer.h"
#include "odva_ethernetip/serialization/buffer_writer.h"
#include "odva_ethernetip/serialization/buffer_reader.h"

using namespace boost::asio;
using namespace omron_os32c_driver;
using namespace eip;
using namespace eip::serialization;
using namespace boost::asio;

class MeasurementReportHeaderTest : public ::testing ::Test
{
};

TEST_F(MeasurementReportHeaderTest, test_deserialize)
{
  // clang-format off
  EIP_BYTE d[] = {
    // scan count
    0xEF, 0xBE, 0xAD, 0xDE,
    // scan rate
    0x40, 0x9C, 0, 0,
    // scan timestamp
    0xAA, 0x55, 0xAA, 0x55,
    // scan beam period
    0x45, 0xA9, 0, 0,
    // machine state
    3, 0,
    // machine stop reason
    7, 0,
    // active zone set
    0x45, 0,
    // zone inputs
    0xAA, 0,
    // detection zone status
    0x0F, 0,
    // output status
    0x07, 0,
    // input status
    0x03, 0,
    // seven segment display
    0x02, 0x04,
    // non-safety config checksum
    0xAA, 0x55,
    // safety config checksum
    0xA5, 0x5A,
    // reserved bytes
    0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
    // range report format
    1, 0,
    // reflectivity report format
    1, 0,
    // reserved
    0xFF, 0xFF,
    // number of beams
    0xA5, 0x02,
  };
  // clang-format on

  BufferReader reader(buffer(d));
  MeasurementReportHeader mrh;
  mrh.deserialize(reader);
  EXPECT_EQ(sizeof(d), reader.getByteCount());
  EXPECT_EQ(sizeof(d), mrh.getLength());
  EXPECT_EQ(0xDEADBEEF, mrh.scan_count);
  EXPECT_EQ(40000, mrh.scan_rate);
  EXPECT_EQ(0x55AA55AA, mrh.scan_timestamp);
  EXPECT_EQ(43333, mrh.scan_beam_period);
  EXPECT_EQ(3, mrh.machine_state);
  EXPECT_EQ(7, mrh.machine_stop_reasons);
  EXPECT_EQ(0x45, mrh.active_zone_set);
  EXPECT_EQ(0xAA, mrh.zone_inputs);
  EXPECT_EQ(0x0F, mrh.detection_zone_status);
  EXPECT_EQ(7, mrh.output_status);
  EXPECT_EQ(3, mrh.input_status);
  EXPECT_EQ(0x0402, mrh.display_status);
  EXPECT_EQ(0x55AA, mrh.non_safety_config_checksum);
  EXPECT_EQ(0x5AA5, mrh.safety_config_checksum);
  EXPECT_EQ(1, mrh.range_report_format);
  EXPECT_EQ(1, mrh.refletivity_report_format);
  EXPECT_EQ(677, mrh.num_beams);
}

TEST_F(MeasurementReportHeaderTest, test_serialize)
{
  MeasurementReportHeader mrh;
  mrh.scan_count = 0xDEADBEEF;
  mrh.scan_rate = 40000;
  mrh.scan_timestamp = 0x55AA55AA;
  mrh.scan_beam_period = 43333;
  mrh.machine_state = 3;
  mrh.machine_stop_reasons = 7;
  mrh.active_zone_set = 0x45;
  mrh.zone_inputs = 0xAA;
  mrh.detection_zone_status = 0x0F;
  mrh.output_status = 7;
  mrh.input_status = 3;
  mrh.display_status = 0x0402;
  mrh.non_safety_config_checksum = 0x55AA;
  mrh.safety_config_checksum = 0x5AA5;
  mrh.range_report_format = 1;
  mrh.refletivity_report_format = 1;
  mrh.num_beams = 677;

  EIP_BYTE d[56];
  EXPECT_EQ(sizeof(d), mrh.getLength());
  BufferWriter writer(buffer(d));
  mrh.serialize(writer);
  EXPECT_EQ(sizeof(d), writer.getByteCount());

  EXPECT_EQ(d[0], 0xEF);
  EXPECT_EQ(d[1], 0xBE);
  EXPECT_EQ(d[2], 0xAD);
  EXPECT_EQ(d[3], 0xDE);
  EXPECT_EQ(d[4], 0x40);
  EXPECT_EQ(d[5], 0x9C);
  EXPECT_EQ(d[6], 0);
  EXPECT_EQ(d[7], 0);
  EXPECT_EQ(d[8], 0xAA);
  EXPECT_EQ(d[9], 0x55);
  EXPECT_EQ(d[10], 0xAA);
  EXPECT_EQ(d[11], 0x55);
  EXPECT_EQ(d[12], 0x45);
  EXPECT_EQ(d[13], 0xA9);
  EXPECT_EQ(d[14], 0);
  EXPECT_EQ(d[15], 0);
  EXPECT_EQ(d[16], 3);
  EXPECT_EQ(d[17], 0);
  EXPECT_EQ(d[18], 7);
  EXPECT_EQ(d[19], 0);
  EXPECT_EQ(d[20], 0x45);
  EXPECT_EQ(d[21], 0);
  EXPECT_EQ(d[22], 0xAA);
  EXPECT_EQ(d[23], 0);
  EXPECT_EQ(d[24], 0x0F);
  EXPECT_EQ(d[25], 0);
  EXPECT_EQ(d[26], 0x07);
  EXPECT_EQ(d[27], 0);
  EXPECT_EQ(d[28], 0x03);
  EXPECT_EQ(d[29], 0);
  EXPECT_EQ(d[30], 0x02);
  EXPECT_EQ(d[31], 0x04);
  EXPECT_EQ(d[32], 0xAA);
  EXPECT_EQ(d[33], 0x55);
  EXPECT_EQ(d[34], 0xA5);
  EXPECT_EQ(d[35], 0x5A);
  EXPECT_EQ(d[36], 0);
  EXPECT_EQ(d[37], 0);
  EXPECT_EQ(d[38], 0);
  EXPECT_EQ(d[39], 0);
  EXPECT_EQ(d[40], 0);
  EXPECT_EQ(d[41], 0);
  EXPECT_EQ(d[42], 0);
  EXPECT_EQ(d[43], 0);
  EXPECT_EQ(d[44], 0);
  EXPECT_EQ(d[45], 0);
  EXPECT_EQ(d[46], 0);
  EXPECT_EQ(d[47], 0);
  EXPECT_EQ(d[48], 1);
  EXPECT_EQ(d[49], 0);
  EXPECT_EQ(d[50], 1);
  EXPECT_EQ(d[51], 0);
  EXPECT_EQ(d[52], 0);
  EXPECT_EQ(d[53], 0);
  EXPECT_EQ(d[54], 0xA5);
  EXPECT_EQ(d[55], 0x02);
}


TEST_F(MeasurementReportHeaderTest, test_serialize_and_deserialize)
{
  MeasurementReportHeader mrh;
  mrh.scan_count = 0xDEADBEEF;
  mrh.scan_rate = 40000;
  mrh.scan_timestamp = 0x55AA55AA;
  mrh.scan_beam_period = 43333;
  mrh.machine_state = 3;
  mrh.machine_stop_reasons = 7;
  mrh.active_zone_set = 0x45;
  mrh.zone_inputs = 0xAA;
  mrh.detection_zone_status = 0x0F;
  mrh.output_status = 7;
  mrh.input_status = 3;
  mrh.display_status = 0x0402;
  mrh.non_safety_config_checksum = 0x55AA;
  mrh.safety_config_checksum = 0x5AA5;
  mrh.range_report_format = 1;
  mrh.refletivity_report_format = 1;
  mrh.num_beams = 677;

  EIP_BYTE d[56];
  EXPECT_EQ(sizeof(d), mrh.getLength());
  BufferWriter writer(buffer(d));
  mrh.serialize(writer);
  EXPECT_EQ(sizeof(d), writer.getByteCount());

  BufferReader reader(buffer(d));
  MeasurementReportHeader mrh2;
  mrh2.deserialize(reader);
  EXPECT_EQ(sizeof(d), reader.getByteCount());
  EXPECT_EQ(sizeof(d), mrh2.getLength());
  EXPECT_EQ(0xDEADBEEF, mrh2.scan_count);
  EXPECT_EQ(40000, mrh2.scan_rate);
  EXPECT_EQ(0x55AA55AA, mrh2.scan_timestamp);
  EXPECT_EQ(43333, mrh2.scan_beam_period);
  EXPECT_EQ(3, mrh2.machine_state);
  EXPECT_EQ(7, mrh2.machine_stop_reasons);
  EXPECT_EQ(0x45, mrh2.active_zone_set);
  EXPECT_EQ(0xAA, mrh2.zone_inputs);
  EXPECT_EQ(0x0F, mrh2.detection_zone_status);
  EXPECT_EQ(7, mrh2.output_status);
  EXPECT_EQ(3, mrh2.input_status);
  EXPECT_EQ(0x0402, mrh2.display_status);
  EXPECT_EQ(0x55AA, mrh2.non_safety_config_checksum);
  EXPECT_EQ(0x5AA5, mrh2.safety_config_checksum);
  EXPECT_EQ(1, mrh2.range_report_format);
  EXPECT_EQ(1, mrh2.refletivity_report_format);
  EXPECT_EQ(677, mrh2.num_beams);
}