unit_tests.cpp

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// Google Testing Framework
#include <gtest/gtest.h>
//#include <gmock/gmock.h>
// qb robotics libraries
#include <qb_device_hardware_interface/qb_device_hardware_interface.h>
 
TEST(Resources, Constructors) {
  // positive tests
  qb_device_hardware_interface::qbDeviceResources default_constructor;
  EXPECT_EQ(1, default_constructor.id);
  EXPECT_EQ(+1, default_constructor.motor_axis_direction);
 
  std::vector<int> right_ids = {0, 1, -1, 255, -255};
  for (auto const id : right_ids) {
    qb_device_hardware_interface::qbDeviceResources constructor(id);
    EXPECT_EQ(std::abs(id), constructor.id);
    if (id > 0) {
      EXPECT_EQ(+1, constructor.motor_axis_direction);
    } else if (id < 0) {
      EXPECT_EQ(-1, constructor.motor_axis_direction);
    } else {
      EXPECT_EQ(0, constructor.motor_axis_direction);  // zero is the broadcast id (i.e. no motor is controlled)
    }
  }
 
  // negative tests
  std::vector<int> wrong_ids = {256, -256};
  for (auto const id : wrong_ids) {
    qb_device_hardware_interface::qbDeviceResources constructor(id);
    //FIXME
  }
}
 
 
int main(int argc, char **argv) {
  testing::InitGoogleTest(&argc, argv);
//  testing::InitGoogleMock(&argc, argv);
//  testing::FLAGS_gmock_verbose = "info";
  ros::init(argc, argv, "unit_tests");
  return RUN_ALL_TESTS();
}