test_data.cpp

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#include "create/data.h"
#include "create/packet.h"
#include "create/types.h"

#include "gtest/gtest.h"

#include <boost/shared_ptr.hpp>

TEST(DataTest, Constructor)
{
  create::Data data_default;

  create::Data data_v_1(create::V_1);

  create::Data data_v_2(create::V_2);

  create::Data data_v_3(create::V_3);

  create::Data data_v_all(create::V_ALL);
}

// Number of packets for a given protocol are determined in the Data() constructor
TEST(DataTest, GetNumPackets)
{
  // Number of packets shared by all protocols is 16
  create::Data data_v_1(create::V_1);
  // Number exclusive to V_1 = 4
  // 16 + 4 = 20
  EXPECT_EQ(static_cast<int>(data_v_1.getNumPackets()), 20);

  create::Data data_v_2(create::V_2);
  // Number exclusive to V_2 = 3
  // 16 + 3 = 19
  EXPECT_EQ(static_cast<int>(data_v_2.getNumPackets()), 19);

  create::Data data_v_3(create::V_3);
  // Number exclusive to V_3 = 13
  // 16 + 13 = 29
  EXPECT_EQ(static_cast<int>(data_v_3.getNumPackets()), 29);

  create::Data data_v_all(create::V_ALL);
  EXPECT_EQ(static_cast<int>(data_v_all.getNumPackets()), 33);
}

TEST(DataTest, GetPacket)
{
  // Get a packet exclusive to V_1
  create::Data data_v_1(create::V_1);
  boost::shared_ptr<create::Packet> v_1_packet_ptr = data_v_1.getPacket(create::ID_OVERCURRENTS);
  EXPECT_NE(v_1_packet_ptr, boost::shared_ptr<create::Packet>())
      << "ID_OVERCURRENTS packet not found for protocol V_1";
  EXPECT_EQ(static_cast<int>(v_1_packet_ptr->nbytes), 1);
  EXPECT_EQ(v_1_packet_ptr->info, std::string("overcurrents"));

  // Get a packet for V_2
  create::Data data_v_2(create::V_2);
  boost::shared_ptr<create::Packet> v_2_packet_ptr = data_v_2.getPacket(create::ID_DISTANCE);
  EXPECT_NE(v_2_packet_ptr, boost::shared_ptr<create::Packet>())
      << "ID_DISTANCE packet not found for protocol V_2";
  EXPECT_EQ(static_cast<int>(v_2_packet_ptr->nbytes), 2);
  EXPECT_EQ(v_2_packet_ptr->info, std::string("distance"));

  // Get a packet exclusive to V_3
  create::Data data_v_3(create::V_3);
  boost::shared_ptr<create::Packet> v_3_packet_ptr = data_v_3.getPacket(create::ID_LIGHT_FRONT_RIGHT);
  EXPECT_NE(v_3_packet_ptr, boost::shared_ptr<create::Packet>())
      << "ID_LIGHT_FRONT_RIGHT packet not found for protocol V_3";
  EXPECT_EQ(static_cast<int>(v_3_packet_ptr->nbytes), 2);
  EXPECT_EQ(v_3_packet_ptr->info, std::string("light_bumper_front_right"));

  // Get a non-existent packet
  boost::shared_ptr<create::Packet> not_a_packet_ptr = data_v_3.getPacket(60);
  EXPECT_EQ(not_a_packet_ptr, boost::shared_ptr<create::Packet>());
}

TEST(DataTest, GetPacketIDs)
{
  create::Data data_v_3(create::V_3);
  const std::vector<uint8_t> packet_ids = data_v_3.getPacketIDs();
  // Vector should have same length as reported by getNumPackets()
  ASSERT_EQ(static_cast<int>(packet_ids.size()), 29);

  // Vector should contain ID_LEFT_ENC
  bool found = false;
  for (std::size_t i = 0; (i < packet_ids.size()) && !found; i++)
  {
    if (packet_ids[i] == create::ID_LEFT_ENC)
    {
      found = true;
    }
  }
  EXPECT_TRUE(found) << "ID_LEFT_ENC packet ID not returned for protocol V_3";
}

TEST(DataTest, GetTotalDataBytes)
{
  // All protocols have 20 mutual data bytes
  // V_1 has an additional 6 bytes
  create::Data data_v_1(create::V_1);
  EXPECT_EQ(static_cast<int>(data_v_1.getTotalDataBytes()), 26);

  // V_2 has an additional 5 bytes
  create::Data data_v_2(create::V_2);
  EXPECT_EQ(static_cast<int>(data_v_2.getTotalDataBytes()), 25);

  // V_3 has an additional 21 bytes
  create::Data data_v_3(create::V_3);
  EXPECT_EQ(static_cast<int>(data_v_3.getTotalDataBytes()), 41);
}

TEST(DataTest, IsValidPacketID)
{
  create::Data data_v_1(create::V_1);
  EXPECT_TRUE(data_v_1.isValidPacketID(create::ID_DIRT_DETECT_RIGHT))
      << "ID_DIRT_DETECT_RIGHT packet not found for protocol V_1";
  EXPECT_FALSE(data_v_1.isValidPacketID(create::ID_OI_MODE))
      << "ID_OI_MODE packet should not exist for protocol V_1";

  // V_2 has an additional 5 bytes
  create::Data data_v_2(create::V_2);
  EXPECT_TRUE(data_v_2.isValidPacketID(create::ID_ANGLE))
      << "ID_ANGLE packet not found for protocol V_2";
  EXPECT_FALSE(data_v_2.isValidPacketID(create::ID_LIGHT))
      << "ID_LIGHT packet should not exist for protocol V_2";

  // V_3 has an additional 21 bytes
  create::Data data_v_3(create::V_3);
  EXPECT_TRUE(data_v_3.isValidPacketID(create::ID_STASIS))
      << "ID_STATIS packet not found for protocol V_3";
  EXPECT_FALSE(data_v_3.isValidPacketID(create::ID_DISTANCE))
      << "ID_DISTANCE packet should not exist for protocol V_3";
}

TEST(DataTest, ValidateAll)
{
  create::Data data_v_3(create::V_3);
  // Don't crash
  data_v_3.validateAll();
}