test_sr_ronex_utilities.cpp

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/*
 * Copyright (c) 2013, Shadow Robot Company, All rights reserved.
 * 
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 3.0 of the License, or (at your option) any later version.
 * 
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 * Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library.
 */

#include <stdint.h>
#include <ros/ros.h>
#include <gtest/gtest.h>
#include <string>

#include "sr_ronex_utilities/sr_ronex_utilities.hpp"

using ronex::set_bit;
using ronex::check_bit;
using ronex::get_ronex_param_id;
using ronex::get_ronex_devices_string;

TEST(RonexUtils, set_bit)
{
  uint32_t data = 0;
  set_bit(data, 1, true);
  EXPECT_EQ(data, 2);

  set_bit(data, 1, false);
  EXPECT_EQ(data, 0);

  set_bit(data, 1, true);
  set_bit(data, 2, true);
  set_bit(data, 3, true);
  EXPECT_EQ(data, 14);

  for ( size_t i = 0; i < 32; ++i )
    set_bit(data, i, true);
  EXPECT_EQ(data, 4294967295);

  set_bit(data, 1, true);
  EXPECT_TRUE(check_bit(data, 1));

  set_bit(data, 4, false);
  EXPECT_FALSE(check_bit(data, 4));
}

TEST(RonexUtils, get_ronex_param_id)
{
  // make sure we're running on a clean environment
  ros::param::del("/ronex");
  // nothing in the parameter server -> ronex param id = 0
  int ronex_param_id = get_ronex_param_id("");
  EXPECT_EQ(ronex_param_id, 0);

  // This serial number is not present on the param server -> returns -1
  ronex_param_id = get_ronex_param_id("1234");
  EXPECT_EQ(ronex_param_id, -1);

  std::string param;
  ros::param::set("/ronex/devices/0/product_id", "0x20001");
  ros::param::set("/ronex/devices/0/product_name", "general_io");
  ros::param::set("/ronex/devices/0/ronex_id", "my_beautiful_ronex");
  ros::param::set("/ronex/devices/0/path", "/ronex/general_io/my_beautiful_ronex/");
  ros::param::set("/ronex/devices/0/serial", "1234");

  // We now have a ronex with param id = 0 -> next free id is 1.
  ronex_param_id = get_ronex_param_id("");
  EXPECT_EQ(ronex_param_id, 1);

  // This ronex id is now present on the param server -> returns index = 0
  ronex_param_id = get_ronex_param_id("my_beautiful_ronex");
  EXPECT_EQ(ronex_param_id, 0);

  // This ronex id doesn't exist - return -1
  ronex_param_id = get_ronex_param_id("do_not_exist");
  EXPECT_EQ(ronex_param_id, -1);
}

TEST(RonexUtils, get_ronex_devices_string)
{
  std::string keyA("/ronex/devices/3/product_name");

  int ronex_parameter_id = 3;
  std::string part("product_name");
  std::string keyB = get_ronex_devices_string(ronex_parameter_id, part);

  EXPECT_EQ(keyA, keyB);
}

int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_sr_ronex_utilities");
  return RUN_ALL_TESTS();
}

/* For the emacs weenies in the crowd.
Local Variables:
c-basic-offset: 2
End:
*/