#include <testcase_generator.h>

Static Public Member Functions
static sick_scan::SickLocColaTelegramMsg	createColaResponse (const sick_scan::SickLocColaTelegramMsg &cola_request, const std::string &scanner_type)

static sick_scan::SickLocResultPortTestcaseMsg	createDefaultResultPortTestcase (void)

static sick_scan::SickLocResultPortTestcaseMsg	createRandomResultPortTestcase (void)

static sick_scan::SickLocResultPortTestcaseMsg	createResultPortCircles (double circle_radius, double circle_yaw)

static bool	LocalizationEnabled (void)

static uint32_t	ResultPoseInterval (void)

static bool	ResultTelegramsEnabled (void)

static bool	SendScandataEnabled (void)

Static Protected Member Functions
static uint32_t	createTimestampTicksMilliSec (void)

template<typename T >
static std::string	decstr (const T &x)

template<typename T >
static std::string	hexstr (const T &x)

Static Protected Attributes
static std::map< std::string, int32_t >	s_controller_settings
	test server int32 settings, set by sMN or sRN requests More...

static std::map< std::string, std::string >	s_controller_settings_str
	test server string settings, set by sMN or sRN requests More...

static uint32_t	s_u32ResultPoseInterval = 1
	result pose interval, i.e. the interval in number of scans (default: 1, i.e. result telegram with each processed scan) More...

Detailed Description

class TestcaseGenerator generates testcases for SIM Localization driver. It creates deterministic and random based result port telegrams.

Definition at line 68 of file testcase_generator.h.

Member Function Documentation

◆ createColaResponse()

sick_scan::SickLocColaTelegramMsg sick_scan::TestcaseGenerator::createColaResponse	(	const sick_scan::SickLocColaTelegramMsg &	cola_request,
		const std::string &	scanner_type
	)

static

Creates and returns a synthetical cola response to a cola command request. Note: Just a few cola responses are implemented for test purposes, f.e. responses to "LocRequestTimestamp". By default, a response: "sAN <command_name>" without any parameter is returned (sAN: Response to sMN)

Parameters

[in] cola_request Cola request from client

Returns: Synthetical cola response from server

Definition at line 261 of file testcase_generator.cpp.

◆ createDefaultResultPortTestcase()

sick_scan::SickLocResultPortTestcaseMsg sick_scan::TestcaseGenerator::createDefaultResultPortTestcase ( void )

static

Creates and returns a deterministic default testcase for result port telegrams (binary telegrams and SickLocResultPortTelegramMsg)

Returns: SickLocResultPortTestcaseMsg with the binary telegram and SickLocResultPortTelegramMsg

Definition at line 121 of file testcase_generator.cpp.

◆ createRandomResultPortTestcase()

sick_scan::SickLocResultPortTestcaseMsg sick_scan::TestcaseGenerator::createRandomResultPortTestcase ( void )

static

Creates and returns a random testcase for result port telegrams (binary telegrams and SickLocResultPortTelegramMsg)

Returns: SickLocResultPortTestcaseMsg with the binary telegram and SickLocResultPortTelegramMsg

Definition at line 158 of file testcase_generator.cpp.

◆ createResultPortCircles()

sick_scan::SickLocResultPortTestcaseMsg sick_scan::TestcaseGenerator::createResultPortCircles	(	double	circle_radius,
		double	circle_yaw
	)

static

Creates and returns a result port telegrams (binary telegrams and SickLocResultPortTelegramMsg) simulating sensor moving in circles with a current position given by radius in meter and yaw angle in radians

Parameters

[in]	circle_radius	radius of circle in meter
[in]	circle_yaw	current angle in radians

Returns: SickLocResultPortTestcaseMsg with the binary telegram and SickLocResultPortTelegramMsg

Definition at line 220 of file testcase_generator.cpp.

◆ createTimestampTicksMilliSec()

uint32_t sick_scan::TestcaseGenerator::createTimestampTicksMilliSec ( void )

staticprotected

Creates and returns a timestamp in milliseconds ticks. To simulate time jitter, network latency and time drift, a random value of +/- 2 milliseconds is added.

Returns: timestamp in milliseconds ticks

Definition at line 803 of file testcase_generator.cpp.

◆ decstr()

template<typename T >

static std::string sick_scan::TestcaseGenerator::decstr ( const T & x )

inlinestaticprotected

Converts value x to decimal string

Parameters

x	value to be converted

Returns: x as hex string

Definition at line 151 of file testcase_generator.h.

◆ hexstr()

template<typename T >

static std::string sick_scan::TestcaseGenerator::hexstr ( const T & x )

inlinestaticprotected

Converts value x to hex string

Parameters

x	value to be converted

Returns: x as hex string

Definition at line 139 of file testcase_generator.h.

◆ LocalizationEnabled()

bool sick_scan::TestcaseGenerator::LocalizationEnabled ( void )

static

Returns true, if localization is active (default), otherwise false (localization deactivated)

Returns: result telegrams are activated (true) or deactivated

Definition at line 103 of file testcase_generator.cpp.

◆ ResultPoseInterval()

static uint32_t sick_scan::TestcaseGenerator::ResultPoseInterval ( void )

inlinestatic

Returns the result pose interval, i.e. the interval in number of scans 1 (default): result with each processed scan 2: result with every second processed scan n: result with every n.th processed scan This parameter can be set by cola command "LocSetResultPoseInterval", f.e. "sMN LocSetResultPoseInterval 1"

Returns: result pose interval

Definition at line 111 of file testcase_generator.h.

◆ ResultTelegramsEnabled()

bool sick_scan::TestcaseGenerator::ResultTelegramsEnabled ( void )

static

Returns true, if result telegrams are activated (i.e. localization on and result telegrams active), otherwise false (result telegrams deactivated)

Returns: result telegrams are activated (true, default) or deactivated

Definition at line 112 of file testcase_generator.cpp.

◆ SendScandataEnabled()

bool sick_scan::TestcaseGenerator::SendScandataEnabled ( void )

static

Returns true, if LMCstartmeas has been requested (i.e. send LMDscandata and LMDscandatamon, LMCstartmeas is enabled), or false otherwise (i.e. do not send LMDscandata or LMDscandatamon, LMCstartmeas is disabled)

Returns: LMCstartmeas status (true or false)

Definition at line 94 of file testcase_generator.cpp.

Member Data Documentation

◆ s_controller_settings

std::map< std::string, int32_t > sick_scan::TestcaseGenerator::s_controller_settings

staticprotected

Initial value:

= {
  {"IsSystemReady", 1},        
  {"LMCstartmeas", 0},         
  {"LocState", 2},             
  {"LocResultPort", 2201},     
  {"LocResultMode", 0},        
  {"LocResultState", 1},       
  {"LocResultEndianness", 0},  
  {"LocMapState", 1},          
  {"LocRequestResultData", 1}  
}

test server int32 settings, set by sMN or sRN requests

Definition at line 167 of file testcase_generator.h.

◆ s_controller_settings_str

std::map< std::string, std::string > sick_scan::TestcaseGenerator::s_controller_settings_str

staticprotected

test server string settings, set by sMN or sRN requests

Definition at line 168 of file testcase_generator.h.

◆ s_u32ResultPoseInterval

uint32_t sick_scan::TestcaseGenerator::s_u32ResultPoseInterval = 1

staticprotected

result pose interval, i.e. the interval in number of scans (default: 1, i.e. result telegram with each processed scan)

Definition at line 166 of file testcase_generator.h.

The documentation for this class was generated from the following files:

Static Public Member Functions

Static Protected Member Functions

Static Protected Attributes

Detailed Description

Member Function Documentation

◆ createColaResponse()

◆ createDefaultResultPortTestcase()

◆ createRandomResultPortTestcase()

◆ createResultPortCircles()

◆ createTimestampTicksMilliSec()

◆ decstr()

◆ hexstr()

◆ LocalizationEnabled()

◆ ResultPoseInterval()

◆ ResultTelegramsEnabled()

◆ SendScandataEnabled()

Member Data Documentation

◆ s_controller_settings

◆ s_controller_settings_str

◆ s_u32ResultPoseInterval