test_package_serializer.cpp

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#include <gtest/gtest.h>
#include <ur_client_library/comm/package_serializer.h>

using namespace urcl;

TEST(package_serializer, serialize_string)
{
  uint8_t buffer[4096];
  std::string message = "serialized string";
  size_t expected_size = message.size();
  size_t actual_size = comm::PackageSerializer::serialize(buffer, message);

  EXPECT_EQ(expected_size, actual_size);

  uint8_t expected_buffer[] = { 0x73, 0x65, 0x72, 0x69, 0x61, 0x6c, 0x69, 0x7a, 0x65,
                                0x64, 0x20, 0x73, 0x74, 0x72, 0x69, 0x6e, 0x67 };
  for (unsigned int i = 0; i < actual_size; ++i)
  {
    EXPECT_EQ(expected_buffer[i], buffer[i]);
  }
}

TEST(package_serializer, serialize_double)
{
  uint8_t buffer[sizeof(double)];
  size_t expected_size = sizeof(double);
  size_t actual_size = comm::PackageSerializer::serialize(buffer, 2.341);

  EXPECT_EQ(expected_size, actual_size);

  uint8_t expected_buffer[] = { 0x40, 0x02, 0xba, 0x5e, 0x35, 0x3f, 0x7c, 0xee };
  for (unsigned int i = 0; i < actual_size; ++i)
  {
    EXPECT_EQ(expected_buffer[i], buffer[i]);
  }
}

TEST(package_serializer, serialize_int32)
{
  uint8_t buffer[sizeof(int32_t)];
  size_t expected_size = sizeof(int32_t);
  size_t actual_size = comm::PackageSerializer::serialize<int32_t>(buffer, 2341);

  EXPECT_EQ(expected_size, actual_size);

  uint8_t expected_buffer[] = { 0x00, 0x00, 0x09, 0x25 };
  for (unsigned int i = 0; i < actual_size; ++i)
  {
    EXPECT_EQ(expected_buffer[i], buffer[i]);
  }
}

int main(int argc, char* argv[])
{
  ::testing::InitGoogleTest(&argc, argv);

  return RUN_ALL_TESTS();
}