test_comms.cpp

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#include "um6/comms.h"
#include "um6/registers.h"
#include "serial/serial.h"
#include <gtest/gtest.h>
#include <fcntl.h>
 
class FakeSerial : public ::testing::Test
{
protected:
  virtual void SetUp()
  {
    ASSERT_NE(-1, master_fd = posix_openpt( O_RDWR | O_NOCTTY | O_NDELAY ));
    ASSERT_NE(-1, grantpt(master_fd));
    ASSERT_NE(-1, unlockpt(master_fd));
    ASSERT_TRUE((ser_name = ptsname(master_fd)) != NULL);
    ser.setPort(ser_name);
    ser.open();
    ASSERT_TRUE(ser.isOpen()) << "Couldn't open Serial connection to pseudoterminal.";
  }
 
  void write_serial(const std::string& msg)
  {
    write(master_fd, msg.c_str(), msg.length());
  }
 
  virtual void TearDown()
  {
    ser.close();
    close(master_fd);
  }
 
  serial::Serial ser;
 
private:
  int master_fd;
  char* ser_name;
};
 
TEST_F(FakeSerial, basic_message_rx)
{
  // Send message from device which should write four bytes to the raw magnetometer's first register.
  std::string msg(um6::Comms::message(UM6_MAG_RAW_XY, std::string("\x1\x2\x3\x4")));
  write_serial(msg);
 
  um6::Comms sensor(&ser);
  um6::Registers registers;
  ASSERT_EQ(UM6_MAG_RAW_XY, sensor.receive(&registers)) << "Didn't return ID of arriving message.";
  EXPECT_EQ(0x0102, registers.mag_raw.get(0));
}
 
TEST_F(FakeSerial, batch_message_rx)
{
  // Send message from device which should write four bytes to the raw accelerometer's registers.
  std::string msg(um6::Comms::message(UM6_ACCEL_RAW_XY, std::string("\x5\x6\x7\x8\x9\xa\0\0", 8)));
  write_serial(msg);
 
  um6::Comms sensor(&ser);
  um6::Registers registers;
  ASSERT_EQ(UM6_ACCEL_RAW_XY, sensor.receive(&registers)) << "Didn't return ID of arriving message.";
  EXPECT_EQ(0x0506, registers.accel_raw.get(0));
  EXPECT_EQ(0x0708, registers.accel_raw.get(1));
  EXPECT_EQ(0x090a, registers.accel_raw.get(2));
}
 
TEST_F(FakeSerial, bad_checksum_message_rx)
{
  // Generate message, then twiddle final byte.
  std::string msg(um6::Comms::message(UM6_MAG_RAW_XY, std::string("\x1\x2\x3\x4")));
  msg[msg.length() - 1]++;
  write_serial(msg);
 
  um6::Comms sensor(&ser);
  um6::Registers registers;
  EXPECT_EQ(-1, sensor.receive(&registers)) << "Didn't properly ignore bad checksum message.";
}
 
TEST_F(FakeSerial, garbage_bytes_preceeding_message_rx)
{
  // Generate message, then prepend junk.
  std::string msg(um6::Comms::message(UM6_COMMUNICATION, std::string()));
  msg = "ssssssnsnsns" + msg;
  write_serial(msg);
 
  um6::Comms sensor(&ser);
  EXPECT_EQ(UM6_COMMUNICATION, sensor.receive(NULL)) << "Didn't handle garbage prepended to message.";
}
 
TEST_F(FakeSerial, timeout_message_rx)
{
  std::string msg("snp\x12\x45");
  write_serial(msg);
  um6::Comms sensor(&ser);
  EXPECT_EQ(-1, sensor.receive(NULL)) << "Didn't properly time out in the face of a partial message.";
}
 
int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}