#include <gtest/gtest.h>
#include <ros/ros.h>
#include <std_msgs/Bool.h>
#include <geometry_msgs/TwistStamped.h>
#include <dataspeed_ulc_msgs/UlcCmd.h>
#include <dataspeed_ulc_msgs/UlcReport.h>
#include <dataspeed_ulc_can/dispatch.h>
#include <can_msgs/Frame.h>
#include "MsgRx.h"

Include dependency graph for test_ulc_node.cpp:

Functions
static void	checkImmediateCfg ()

int	main (int argc, char **argv)

void	recvCan (const can_msgs::FrameConstPtr &msg)

void	recvReport (const dataspeed_ulc_msgs::UlcReportConstPtr &msg)

	TEST (ULCNode, topics)

	TEST (ULCNode, cfgTiming)

	TEST (ULCNode, cmdRangeSaturation)

	TEST (ULCNode, outOfBoundsInputs)

	TEST (ULCNode, scaleFactors)

	TEST (ULCNode, dbwEnable)

	TEST (ULCNode, twistInputs)

	TEST (ULCNode, reportParsing)

template<class T >
static bool	waitForMsg (ros::WallDuration dur, const MsgRx< T > &msg_rx)

static bool	waitForTopics (ros::WallDuration dur)

Variables
const double	ACCEL_CMD_SCALE_FACTOR = 0.0005

const double	ACCEL_REPORT_SCALE_FACTOR = 0.05

const double	ANGULAR_ACCEL_SCALE_FACTOR = 0.02

const double	CURVATURE_SCALE_FACTOR = 0.0000061

double	g_cfg_freq

MsgRx< MsgUlcCfg >	g_msg_ulc_cfg (ros::WallDuration(0.05))

MsgRx< MsgUlcCmd >	g_msg_ulc_cmd (ros::WallDuration(0.05))

MsgRx< dataspeed_ulc_msgs::UlcReport >	g_msg_ulc_report (ros::WallDuration(0.05))

ros::Publisher	g_pub_can

ros::Publisher	g_pub_enable

ros::Publisher	g_pub_twist

ros::Publisher	g_pub_twist_stamped

ros::Publisher	g_pub_ulc_cmd

ros::Subscriber	g_sub_can

ros::Subscriber	g_sub_report

dataspeed_ulc_msgs::UlcCmd	g_ulc_cmd

const double	JERK_LIMIT_BRAKE_SCALE_FACTOR = 0.1

const double	JERK_LIMIT_THROTTLE_SCALE_FACTOR = 0.1

const double	LATERAL_ACCEL_SCALE_FACTOR = 0.05

const double	LIN_VEL_SCALE_FACTOR = 0.0025

const double	LINEAR_ACCEL_SCALE_FACTOR = 0.025

const double	LINEAR_DECEL_SCALE_FACTOR = 0.025

const double	MAX_ANGLE_SCALE_FACTOR = 5.0

const double	MAX_RATE_SCALE_FACTOR = 8.0

ros::NodeHandle *	n

ros::NodeHandle *	pn

const double	SPEED_REPORT_SCALE_FACTOR = 0.02

const double	YAW_RATE_SCALE_FACTOR = 0.00025

Function Documentation

◆ checkImmediateCfg()

static void checkImmediateCfg ( )

static

Definition at line 104 of file test_ulc_node.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 592 of file test_ulc_node.cpp.

◆ recvCan()

void recvCan ( const can_msgs::FrameConstPtr & msg )

Definition at line 51 of file test_ulc_node.cpp.

◆ recvReport()

void recvReport ( const dataspeed_ulc_msgs::UlcReportConstPtr & msg )

Definition at line 65 of file test_ulc_node.cpp.

◆ TEST() [1/8]

TEST	(	ULCNode	,
		topics
	)

Definition at line 113 of file test_ulc_node.cpp.

◆ TEST() [2/8]

TEST	(	ULCNode	,
		cfgTiming
	)

Definition at line 123 of file test_ulc_node.cpp.

◆ TEST() [3/8]

TEST	(	ULCNode	,
		cmdRangeSaturation
	)

Definition at line 168 of file test_ulc_node.cpp.

◆ TEST() [4/8]

TEST	(	ULCNode	,
		outOfBoundsInputs
	)

Definition at line 334 of file test_ulc_node.cpp.

◆ TEST() [5/8]

TEST	(	ULCNode	,
		scaleFactors
	)

Definition at line 422 of file test_ulc_node.cpp.

◆ TEST() [6/8]

TEST	(	ULCNode	,
		dbwEnable
	)

Definition at line 475 of file test_ulc_node.cpp.

◆ TEST() [7/8]

TEST	(	ULCNode	,
		twistInputs
	)

Definition at line 521 of file test_ulc_node.cpp.

◆ TEST() [8/8]

TEST	(	ULCNode	,
		reportParsing
	)

Definition at line 549 of file test_ulc_node.cpp.

◆ waitForMsg()

template<class T >

static bool waitForMsg	(	ros::WallDuration	dur,
		const MsgRx< T > &	msg_rx
	)

static

Definition at line 71 of file test_ulc_node.cpp.

◆ waitForTopics()

static bool waitForTopics ( ros::WallDuration dur )

static

Definition at line 85 of file test_ulc_node.cpp.

Variable Documentation

◆ ACCEL_CMD_SCALE_FACTOR

const double ACCEL_CMD_SCALE_FACTOR = 0.0005

Definition at line 25 of file test_ulc_node.cpp.

◆ ACCEL_REPORT_SCALE_FACTOR

const double ACCEL_REPORT_SCALE_FACTOR = 0.05

Definition at line 39 of file test_ulc_node.cpp.

◆ ANGULAR_ACCEL_SCALE_FACTOR

const double ANGULAR_ACCEL_SCALE_FACTOR = 0.02

Definition at line 33 of file test_ulc_node.cpp.

◆ CURVATURE_SCALE_FACTOR

const double CURVATURE_SCALE_FACTOR = 0.0000061

Definition at line 27 of file test_ulc_node.cpp.

◆ g_cfg_freq

double g_cfg_freq

Definition at line 21 of file test_ulc_node.cpp.

◆ g_msg_ulc_cfg

MsgRx<MsgUlcCfg> g_msg_ulc_cfg(ros::WallDuration(0.05))

◆ g_msg_ulc_cmd

MsgRx<MsgUlcCmd> g_msg_ulc_cmd(ros::WallDuration(0.05))

◆ g_msg_ulc_report

MsgRx<dataspeed_ulc_msgs::UlcReport> g_msg_ulc_report(ros::WallDuration(0.05))

◆ g_pub_can

ros::Publisher g_pub_can

Definition at line 47 of file test_ulc_node.cpp.

◆ g_pub_enable

ros::Publisher g_pub_enable

Definition at line 44 of file test_ulc_node.cpp.

◆ g_pub_twist

ros::Publisher g_pub_twist

Definition at line 45 of file test_ulc_node.cpp.

◆ g_pub_twist_stamped

ros::Publisher g_pub_twist_stamped

Definition at line 46 of file test_ulc_node.cpp.

◆ g_pub_ulc_cmd

ros::Publisher g_pub_ulc_cmd

Definition at line 43 of file test_ulc_node.cpp.

◆ g_sub_can

ros::Subscriber g_sub_can

Definition at line 48 of file test_ulc_node.cpp.

◆ g_sub_report

ros::Subscriber g_sub_report

Definition at line 49 of file test_ulc_node.cpp.

◆ g_ulc_cmd

dataspeed_ulc_msgs::UlcCmd g_ulc_cmd

Definition at line 20 of file test_ulc_node.cpp.

◆ JERK_LIMIT_BRAKE_SCALE_FACTOR

const double JERK_LIMIT_BRAKE_SCALE_FACTOR = 0.1

Definition at line 35 of file test_ulc_node.cpp.

◆ JERK_LIMIT_THROTTLE_SCALE_FACTOR

const double JERK_LIMIT_THROTTLE_SCALE_FACTOR = 0.1

Definition at line 34 of file test_ulc_node.cpp.

◆ LATERAL_ACCEL_SCALE_FACTOR

const double LATERAL_ACCEL_SCALE_FACTOR = 0.05

Definition at line 32 of file test_ulc_node.cpp.

◆ LIN_VEL_SCALE_FACTOR

const double LIN_VEL_SCALE_FACTOR = 0.0025

Definition at line 24 of file test_ulc_node.cpp.

◆ LINEAR_ACCEL_SCALE_FACTOR

const double LINEAR_ACCEL_SCALE_FACTOR = 0.025

Definition at line 30 of file test_ulc_node.cpp.

◆ LINEAR_DECEL_SCALE_FACTOR

const double LINEAR_DECEL_SCALE_FACTOR = 0.025

Definition at line 31 of file test_ulc_node.cpp.

◆ MAX_ANGLE_SCALE_FACTOR

const double MAX_ANGLE_SCALE_FACTOR = 5.0

Definition at line 40 of file test_ulc_node.cpp.

◆ MAX_RATE_SCALE_FACTOR

const double MAX_RATE_SCALE_FACTOR = 8.0

Definition at line 41 of file test_ulc_node.cpp.

◆ n

ros::NodeHandle* n

Definition at line 14 of file test_ulc_node.cpp.

◆ pn

ros::NodeHandle * pn

Definition at line 14 of file test_ulc_node.cpp.

◆ SPEED_REPORT_SCALE_FACTOR

const double SPEED_REPORT_SCALE_FACTOR = 0.02

Definition at line 38 of file test_ulc_node.cpp.

◆ YAW_RATE_SCALE_FACTOR

const double YAW_RATE_SCALE_FACTOR = 0.00025

Definition at line 26 of file test_ulc_node.cpp.

Functions

Variables

Function Documentation

◆ checkImmediateCfg()

◆ main()

◆ recvCan()

◆ recvReport()

◆ TEST() [1/8]

◆ TEST() [2/8]

◆ TEST() [3/8]

◆ TEST() [4/8]

◆ TEST() [5/8]

◆ TEST() [6/8]

◆ TEST() [7/8]

◆ TEST() [8/8]

◆ waitForMsg()

◆ waitForTopics()

Variable Documentation

◆ ACCEL_CMD_SCALE_FACTOR

◆ ACCEL_REPORT_SCALE_FACTOR

◆ ANGULAR_ACCEL_SCALE_FACTOR

◆ CURVATURE_SCALE_FACTOR

◆ g_cfg_freq

◆ g_msg_ulc_cfg

◆ g_msg_ulc_cmd

◆ g_msg_ulc_report

◆ g_pub_can

◆ g_pub_enable

◆ g_pub_twist

◆ g_pub_twist_stamped

◆ g_pub_ulc_cmd

◆ g_sub_can

◆ g_sub_report

◆ g_ulc_cmd

◆ JERK_LIMIT_BRAKE_SCALE_FACTOR

◆ JERK_LIMIT_THROTTLE_SCALE_FACTOR

◆ LATERAL_ACCEL_SCALE_FACTOR

◆ LIN_VEL_SCALE_FACTOR

◆ LINEAR_ACCEL_SCALE_FACTOR

◆ LINEAR_DECEL_SCALE_FACTOR

◆ MAX_ANGLE_SCALE_FACTOR

◆ MAX_RATE_SCALE_FACTOR

◆ n

◆ pn

◆ SPEED_REPORT_SCALE_FACTOR

◆ YAW_RATE_SCALE_FACTOR