git commit -m "first commit for v2"

Devices/Libraries/Ros/ros_canopen/canopen_402/test/clamping.cpp

@@ -0,0 +1,57 @@
+#include <canopen_402/motor.h>
+#include <gtest/gtest.h>
+
+
+template<typename T> class ModeTargetHelperTest : public canopen::ModeTargetHelper<T>, public ::testing::Test{
+public:
+    ModeTargetHelperTest() : canopen::ModeTargetHelper<T>(0) {}
+    virtual bool read(const uint16_t &sw) { return false; }
+    virtual bool write(canopen::Mode::OpModeAccesser& cw) { return false; }
+};
+
+typedef ::testing::Types<uint8_t, int8_t, uint16_t, int16_t, uint32_t, int32_t, uint64_t, int64_t> MyTypes;
+
+TYPED_TEST_CASE(ModeTargetHelperTest, MyTypes);
+
+TYPED_TEST(ModeTargetHelperTest, CheckNaN){
+    ASSERT_FALSE(this->setTarget(std::numeric_limits<double>::quiet_NaN()));
+}
+
+TYPED_TEST(ModeTargetHelperTest, CheckZero){
+    ASSERT_TRUE(this->setTarget(0.0));
+}
+
+TYPED_TEST(ModeTargetHelperTest, CheckOne){
+    ASSERT_TRUE(this->setTarget(1.0));
+}
+
+TYPED_TEST(ModeTargetHelperTest, CheckMax){
+    double max = static_cast<double>(std::numeric_limits<TypeParam>::max());
+
+    ASSERT_TRUE(this->setTarget(max));
+    ASSERT_EQ(max, this->getTarget());
+
+    ASSERT_TRUE(this->setTarget(max-1));
+    ASSERT_EQ(max-1,this->getTarget());
+
+    ASSERT_TRUE(this->setTarget(max+1));
+    ASSERT_EQ(max, this->getTarget());
+}
+
+TYPED_TEST(ModeTargetHelperTest, CheckMin){
+    double min = static_cast<double>(std::numeric_limits<TypeParam>::min());
+
+    ASSERT_TRUE(this->setTarget(min));
+    ASSERT_EQ(min, this->getTarget());
+
+    ASSERT_TRUE(this->setTarget(min-1));
+    ASSERT_EQ(min, this->getTarget());
+
+    ASSERT_TRUE(this->setTarget(min+1));
+    ASSERT_EQ(min+1,this->getTarget());
+}
+
+int main(int argc, char **argv){
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}