test_rtde_control_package_start.cpp

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#include <gtest/gtest.h>
#include <ur_client_library/rtde/control_package_start.h>

using namespace urcl;

TEST(rtde_control_package_start, generate_serialized_start_request)
{
  uint8_t buffer[4096];
  size_t expected_size = 3;
  size_t actual_size = rtde_interface::ControlPackageStartRequest::generateSerializedRequest(buffer);

  EXPECT_EQ(expected_size, actual_size);

  uint8_t expected[] = { 0x00, 0x03, 0x53 };
  for (unsigned int i = 0; i < actual_size; ++i)
  {
    EXPECT_EQ(expected[i], buffer[i]);
  }
}

TEST(rtde_control_package_start, parse_accepted_start_request)
{
  rtde_interface::ControlPackageStart start_package;

  uint8_t start_answer[] = { 0x01 };
  comm::BinParser bp(start_answer, sizeof(start_answer));

  EXPECT_TRUE(start_package.parseWith(bp));

  uint8_t expected_answer = 1;
  uint8_t actual_answer = start_package.accepted_;

  EXPECT_EQ(expected_answer, actual_answer);
}

TEST(rtde_control_package_start, parse_not_accepted_start_request)
{
  rtde_interface::ControlPackageStart start_package;

  uint8_t start_answer[] = { 0x00 };
  comm::BinParser bp(start_answer, sizeof(start_answer));

  EXPECT_TRUE(start_package.parseWith(bp));

  uint8_t expected_answer = 0;
  uint8_t actual_answer = start_package.accepted_;

  EXPECT_EQ(expected_answer, actual_answer);
}

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

  return RUN_ALL_TESTS();
}