test_rtde_get_urcontrol_version.cpp

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

using namespace urcl;

TEST(rtde_get_urcontrol_version, generate_serialized_get_urcontrol_version_request)
{
  uint8_t buffer[4096];
  size_t expected_size = 3;
  size_t actual_size = rtde_interface::GetUrcontrolVersionRequest::generateSerializedRequest(buffer);

  EXPECT_EQ(expected_size, actual_size);

  uint8_t expected[] = { 0x00, 0x03, 0x76 };
  for (unsigned int i = 0; i < actual_size; ++i)
  {
    EXPECT_EQ(expected[i], buffer[i]);
  }
}

TEST(rtde_get_urcontrol_version, parse_get_urcontrol_version)
{
  uint8_t urcontrol_version_answer[] = { 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x0c,
                                         0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00 };
  comm::BinParser bp(urcontrol_version_answer, sizeof(urcontrol_version_answer));
  rtde_interface::GetUrcontrolVersion ur_control_version;

  EXPECT_TRUE(ur_control_version.parseWith(bp));

  VersionInformation expected_version_information;
  expected_version_information.major = 5;
  expected_version_information.minor = 12;
  expected_version_information.bugfix = 2;
  expected_version_information.build = 0;

  EXPECT_EQ(expected_version_information.major, ur_control_version.version_information_.major);
  EXPECT_EQ(expected_version_information.minor, ur_control_version.version_information_.minor);
  EXPECT_EQ(expected_version_information.bugfix, ur_control_version.version_information_.bugfix);
  EXPECT_EQ(expected_version_information.build, ur_control_version.version_information_.build);
}

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

  return RUN_ALL_TESTS();
}