motor_message_test.cc

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#include <gtest/gtest.h>
#include <ubiquity_motor/motor_message.h>

TEST(MotorMessageTest, motor_message_commandtype) {
    MotorMessage mc;

    mc.setType(MotorMessage::TYPE_READ);
    ASSERT_EQ(MotorMessage::TYPE_READ, mc.getType());

    mc.setType(MotorMessage::TYPE_WRITE);
    ASSERT_EQ(MotorMessage::TYPE_WRITE, mc.getType());

    mc.setType(MotorMessage::TYPE_RESPONSE);
    ASSERT_EQ(MotorMessage::TYPE_RESPONSE, mc.getType());

    mc.setType(MotorMessage::TYPE_ERROR);
    ASSERT_EQ(MotorMessage::TYPE_ERROR, mc.getType());
}

TEST(MotorMessageTest, motor_message_commandtype_values) {
    MotorMessage mc;

    mc.setType(static_cast<MotorMessage::MessageTypes>(0xA));
    ASSERT_EQ(MotorMessage::TYPE_READ, mc.getType());

    mc.setType(static_cast<MotorMessage::MessageTypes>(0xB));
    ASSERT_EQ(MotorMessage::TYPE_WRITE, mc.getType());

    mc.setType(static_cast<MotorMessage::MessageTypes>(0xC));
    ASSERT_EQ(MotorMessage::TYPE_RESPONSE, mc.getType());

    mc.setType(static_cast<MotorMessage::MessageTypes>(0xD));
    ASSERT_EQ(MotorMessage::TYPE_ERROR, mc.getType());
}

TEST(MotorMessageTest, motor_message_commandtype_invalid) {
    MotorMessage mc;

    mc.setType(static_cast<MotorMessage::MessageTypes>(0xF));
    ASSERT_NE(0xAB, mc.getType());
}

TEST(MotorMessageTest, motor_message_commandtype_overflow) {
    MotorMessage mc;

    mc.setType(static_cast<MotorMessage::MessageTypes>(0xFFFFFF));
    ASSERT_NE(0xFFFFFF, mc.getType());
}

TEST(MotorMessageTest, motor_message_commandtype_neg) {
    MotorMessage mc;

    mc.setType(static_cast<MotorMessage::MessageTypes>(-0xA));
    ASSERT_NE(-0xAA, mc.getType());
    ASSERT_NE(0xAA, mc.getType());
}

TEST(MotorMessageTest, motor_message_register) {
    MotorMessage mc;

    mc.setRegister(MotorMessage::REG_BRAKE_STOP);
    ASSERT_EQ(MotorMessage::REG_BRAKE_STOP, mc.getRegister());
    ASSERT_NE(MotorMessage::REG_STOP_START, mc.getRegister());
}

TEST(MotorMessageTest, motor_message_register_values) {
    MotorMessage mc;

    mc.setRegister(static_cast<MotorMessage::Registers>(0x01));
    ASSERT_EQ(MotorMessage::REG_BRAKE_STOP, mc.getRegister());

    mc.setRegister(static_cast<MotorMessage::Registers>(0x10));
    ASSERT_EQ(MotorMessage::REG_ERROR_COUNT, mc.getRegister());

    mc.setRegister(static_cast<MotorMessage::Registers>(0x0B));
    ASSERT_EQ(MotorMessage::REG_LEFT_ODOM, mc.getRegister());
}

TEST(MotorMessageTest, motor_message_register_invalid) {
    MotorMessage mc;

    mc.setRegister(static_cast<MotorMessage::Registers>(0x05));
    ASSERT_NE(0x05, mc.getRegister());
}

TEST(MotorMessageTest, motor_message_register_overflow) {
    MotorMessage mc;

    mc.setRegister(static_cast<MotorMessage::Registers>(0xFFFFFF));
    ASSERT_NE(0xFFFFFF, mc.getRegister());
}

TEST(MotorMessageTest, motor_message_register_neg) {
    MotorMessage mc;

    mc.setRegister(static_cast<MotorMessage::Registers>(-0x07));
    ASSERT_NE(-0x07, mc.getRegister());
    ASSERT_NE(0x07, mc.getRegister());
}

TEST(MotorMessageTest, motor_message_data_64bit) {
    MotorMessage mc;
    int64_t i = 0xABC;
    mc.setData(i);
    ASSERT_EQ(0xABC, mc.getData());

    i = 0;
    mc.setData(i);
    ASSERT_EQ(0, mc.getData());

    i = -0xABC;
    mc.setData(i);
    ASSERT_EQ(-0xABC, mc.getData());
}

TEST(MotorMessageTest, motor_message_data_32bit) {
    MotorMessage mc;
    int32_t i = 0xABC;
    mc.setData(i);
    ASSERT_EQ(0xABC, mc.getData());

    i = 0;
    mc.setData(i);
    ASSERT_EQ(0, mc.getData());

    i = -0xABC;
    mc.setData(i);
    ASSERT_EQ(-0xABC, mc.getData());
}

TEST(MotorMessageTest, motor_message_data_16bit) {
    MotorMessage mc;
    int16_t i = 0xABC;
    mc.setData(i);
    ASSERT_EQ(0xABC, mc.getData());

    i = 0;
    mc.setData(i);
    ASSERT_EQ(0, mc.getData());

    i = -0xABC;
    mc.setData(i);
    ASSERT_EQ(-0xABC, mc.getData());
}

TEST(MotorMessageTest, motor_message_data_8bit) {
    MotorMessage mc;
    int8_t i = 0x50;
    mc.setData(i);
    ASSERT_EQ(0x50, mc.getData());

    i = 0;
    mc.setData(i);
    ASSERT_EQ(0, mc.getData());

    i = -0x50;
    mc.setData(i);
    ASSERT_EQ(-0x50, mc.getData());
}

TEST(MotorMessageTest, motor_message_serialize) {
    MotorMessage mc;
    mc.setData(300);
    mc.setType(MotorMessage::TYPE_WRITE);
    mc.setRegister(MotorMessage::REG_LEFT_SPEED_SET);

    RawMotorMessage expect = {0x7E, 0x3B, 0x07, 0x00, 0x00, 0x01, 0x2C, 0x90};

    ASSERT_EQ(expect, mc.serialize());
}

TEST(MotorMessageTest, motor_message_deserialize_good) {
    MotorMessage mc;

    // Test good message
    RawMotorMessage input = {0x7E, 0x3B, 0x07, 0x00, 0x00, 0x01, 0x2C, 0x90};

    ASSERT_EQ(0, mc.deserialize(input));
    ASSERT_EQ(300, mc.getData());
    ASSERT_EQ(MotorMessage::TYPE_WRITE, mc.getType());
    ASSERT_EQ(MotorMessage::REG_LEFT_SPEED_SET, mc.getRegister());
}

TEST(MotorMessageTest, motor_message_deserialize_delimeter_in_data) {
    MotorMessage mc;

    RawMotorMessage input = {0x7E, 0x3B, 0x07, 0x00, 0x00, 0x01, 0x7E, 0x3E};

    ASSERT_EQ(0, mc.deserialize(input));
    ASSERT_EQ(382, mc.getData());
    ASSERT_EQ(MotorMessage::TYPE_WRITE, mc.getType());
    ASSERT_EQ(MotorMessage::REG_LEFT_SPEED_SET, mc.getRegister());
}

TEST(MotorMessageTest, motor_message_deserialize_bad_delimeter) {
    MotorMessage mc;

    // Test bad delimeter with good checksum
    RawMotorMessage input = {0x67, 0x3B, 0x07, 0x00, 0x00, 0x00, 0x00, 0xBD};

    ASSERT_EQ(1, mc.deserialize(input));
}

TEST(MotorMessageTest, motor_message_deserialize_bad_protocol) {
    MotorMessage mc;

    // Test bad protocol_verstion with good checksum
    RawMotorMessage input = {0x7E, 0x2B, 0x07, 0x00, 0x00, 0x00, 0x00, 0x3D};

    ASSERT_EQ(2, mc.deserialize(input));
}

TEST(MotorMessageTest, motor_message_deserialize_bad_checksum) {
    MotorMessage mc;

    // Test bad checksum
    RawMotorMessage input = {0x7E, 0x3B, 0x07, 0x00, 0x00, 0x01, 0x2C, 0x0F};

    ASSERT_EQ(3, mc.deserialize(input));
}

TEST(MotorMessageTest, motor_message_deserialize_bad_type) {
    MotorMessage mc;

    // Test type with good checksum
    RawMotorMessage input = {0x7E, 0x3F, 0x07, 0x00, 0x00, 0x00, 0x00, 0xB9};

    ASSERT_EQ(4, mc.deserialize(input));
}

TEST(MotorMessageTest, motor_message_deserialize_bad_register) {
    MotorMessage mc;

    // Test bad register with good checksum
    RawMotorMessage input = {0x7E, 0x3B, 0x60, 0x00, 0x00, 0x00, 0x2C, 0x38};

    ASSERT_EQ(5, mc.deserialize(input));
}

int main(int argc, char **argv) {
    testing::InitGoogleTest(&argc, argv);
    return RUN_ALL_TESTS();
}