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git commit -m "first commit for v2"

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HiepLM
2025-12-29 16:21:22 +07:00
commit aa3d832d5c
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65
Devices/Libraries/Ros/ros_canopen/canopen_master/test/test_node.cpp Executable file
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#include <socketcan_interface/dummy.h>
#include <canopen_master/canopen.h>
// Bring in gtest
#include <gtest/gtest.h>
canopen::ObjectDictSharedPtr make_dict(){
canopen::DeviceInfo info;
info.nr_of_rx_pdo = 0;
info.nr_of_tx_pdo = 0;
canopen::ObjectDictSharedPtr dict = std::make_shared<canopen::ObjectDict>(info);
dict->insert(false, std::make_shared<const canopen::ObjectDict::Entry>(canopen::ObjectDict::VAR,
0x1017,
canopen::ObjectDict::DEFTYPE_UNSIGNED16,
"producer heartbeat",
true, true, false,
canopen::HoldAny((uint16_t)0),
canopen::HoldAny((uint16_t)100)
));
return dict;
}
TEST(TestNode, testInitandShutdown){
can::DummyBus bus("testInitandShutdown");
can::ThreadedDummyInterfaceSharedPtr driver = std::make_shared<can::ThreadedDummyInterface>();
can::DummyReplay replay;
replay.add("0#8201", "701#00");
replay.add("601#2b17100064000000", "581#6017100000000000");
replay.add("0#0101", "701#05");
replay.add("601#2b17100000000000", "581#6017100000000000");
replay.init(bus);
EXPECT_FALSE(replay.done());
auto settings = can::SettingsMap::create();
settings->set("trace", true);
driver->init(bus.name, false, settings);
canopen::NodeSharedPtr node = std::make_shared<canopen::Node>(driver, make_dict(), 1);
{
canopen::LayerStatus status;
node->init(status);
ASSERT_TRUE(status.bounded<canopen::LayerStatus::Ok>());
ASSERT_EQ(canopen::Node::Operational, node->getState());
}
{
canopen::LayerStatus status;
node->shutdown(status);
ASSERT_TRUE(status.bounded<canopen::LayerStatus::Ok>());
}
EXPECT_TRUE(replay.done());
}
// Run all the tests that were declared with TEST()
int main(int argc, char **argv){
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}

182
Devices/Libraries/Ros/ros_canopen/canopen_master/test/test_parser.cpp Executable file
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// Bring in my package's API, which is what I'm testing
#include <boost/property_tree/ptree.hpp>
#include <canopen_master/objdict.h>
// Bring in gtest
#include <gtest/gtest.h>
template<typename T> canopen::HoldAny parse_int(boost::property_tree::iptree &pt, const std::string &key);
template<typename T> canopen::HoldAny prepare_test(const std::string &str){
boost::property_tree::iptree pt;
pt.put("test", str);
return parse_int<T>(pt, "test");
}
template<typename T> class TestHexTypes : public ::testing::Test{
public:
static void test_hex(const T& val, const std::string &str){
EXPECT_EQ(val, prepare_test<T>(str).template get<T>());
}
static void test_hex_node(const T& val, const std::string &str, const uint8_t offset){
EXPECT_EQ(val, canopen::NodeIdOffset<T>::apply(prepare_test<T>(str),offset));
}
};
typedef ::testing::Types<uint8_t, uint16_t, uint32_t, uint64_t> PosTypes;
TYPED_TEST_CASE(TestHexTypes, PosTypes);
TYPED_TEST(TestHexTypes, checkZero){
TestFixture::test_hex(0,"0");
TestFixture::test_hex(0,"0x0");
for(uint8_t i = 0; i <=127; ++i){
TestFixture::test_hex_node(0,"0",i);
TestFixture::test_hex_node(0,"0x0",i);
TestFixture::test_hex_node(0+i,"$NODEID+0",i);
TestFixture::test_hex_node(0+i,"$NODEID+0x0",i);
TestFixture::test_hex_node(0+i,"0+$NODEID",i);
TestFixture::test_hex_node(0+i,"0x0+$NODEID",i);
}
}
TEST(TestHex, checkCamelCase){
TestHexTypes<uint16_t>::test_hex(0xABCD, "0xABCD");
TestHexTypes<uint16_t>::test_hex(0xABCD, "0xabcd");
TestHexTypes<uint16_t>::test_hex(0xABCD, "0xAbCd");
TestHexTypes<uint16_t>::test_hex(0xABCD, "0xabCD");
}
TEST(TestHex, checkNodeCamelCase){
for(uint8_t i = 0; i <=127; ++i){
TestHexTypes<uint16_t>::test_hex_node(i," $NODEID",i);
TestHexTypes<uint16_t>::test_hex_node(i," $NODeID",i);
TestHexTypes<uint16_t>::test_hex_node(i," $NodeId",i);
TestHexTypes<uint16_t>::test_hex_node(i," $NodeID",i);
TestHexTypes<uint16_t>::test_hex_node(i," $nodeID",i);
}
}
TEST(TestHex, checkSpaces){
TestHexTypes<uint16_t>::test_hex(0xABCD, " 0xABCD ");
TestHexTypes<uint16_t>::test_hex(0xABCD, "0xABCD ");
TestHexTypes<uint16_t>::test_hex(0xABCD, " 0xABCD");
}
TEST(TestHex, checkNodeSpaces){
for(uint8_t i = 0; i <=127; ++i){
TestHexTypes<uint16_t>::test_hex_node(i," $NODEID ",i);
TestHexTypes<uint16_t>::test_hex_node(i," $NODEID",i);
TestHexTypes<uint16_t>::test_hex_node(i,"$NODEID ",i);
TestHexTypes<uint16_t>::test_hex_node(i+1,"$NODEID + 1",i);
TestHexTypes<uint16_t>::test_hex_node(i+1,"$NODEID+ 1",i);
TestHexTypes<uint16_t>::test_hex_node(i+1,"$NODEID+1",i);
TestHexTypes<uint16_t>::test_hex_node(i+1,"$NODEID +1",i);
TestHexTypes<uint16_t>::test_hex_node(i+1,"$NODEID +0x1 ",i);
TestHexTypes<uint16_t>::test_hex_node(i+1,"$NODEID + 0x1",i);
TestHexTypes<uint16_t>::test_hex_node(i+1,"1 + $NODEID",i);
TestHexTypes<uint16_t>::test_hex_node(i+1,"1+ $NODEID",i);
TestHexTypes<uint16_t>::test_hex_node(i+1,"1+$NODEID",i);
TestHexTypes<uint16_t>::test_hex_node(i+1,"1 +$NODEID",i);
TestHexTypes<uint16_t>::test_hex_node(i+1,"0x1 + $NODEID ",i);
TestHexTypes<uint16_t>::test_hex_node(i+1,"0x1 +$NODEID",i);
}
}
TEST(TestHex, checkCommonObjects){
for(uint8_t i = 0; i <=127; ++i){
TestHexTypes<uint32_t>::test_hex_node( 0x80+i,"$NODEID+0x80",i); // EMCY
TestHexTypes<uint32_t>::test_hex_node(0x180+i,"$NODEID+0x180",i); //TPDO1
TestHexTypes<uint32_t>::test_hex_node(0x200+i,"$NODEID+0x200",i); //RPDO1
TestHexTypes<uint32_t>::test_hex_node(0x280+i,"$NODEID+0x280",i); //TPDO2
TestHexTypes<uint32_t>::test_hex_node(0x300+i,"$NODEID+0x300",i); //RPDO2
TestHexTypes<uint32_t>::test_hex_node(0x380+i,"$NODEID+0x380",i); //TPDO3
TestHexTypes<uint32_t>::test_hex_node(0x400+i,"$NODEID+0x400",i); //RPDO3
TestHexTypes<uint32_t>::test_hex_node(0x480+i,"$NODEID+0x480",i); //TPDO4
TestHexTypes<uint32_t>::test_hex_node(0x500+i,"$NODEID+0x500",i); //RPDO4
TestHexTypes<uint32_t>::test_hex_node(0x580+i,"$NODEID+0x580",i); // TSDO
TestHexTypes<uint32_t>::test_hex_node(0x600+i,"$NODEID+0x600",i); // RSDO
TestHexTypes<uint32_t>::test_hex_node(0x700+i,"$NODEID+0x700",i); //NMT
TestHexTypes<uint32_t>::test_hex_node( 0x80+i,"0x80+$NODEID",i); // EMCY
TestHexTypes<uint32_t>::test_hex_node(0x180+i,"0x180+$NODEID",i); //TPDO1
TestHexTypes<uint32_t>::test_hex_node(0x200+i,"0x200+$NODEID",i); //RPDO1
TestHexTypes<uint32_t>::test_hex_node(0x280+i,"0x280+$NODEID",i); //TPDO2
TestHexTypes<uint32_t>::test_hex_node(0x300+i,"0x300+$NODEID",i); //RPDO2
TestHexTypes<uint32_t>::test_hex_node(0x380+i,"0x380+$NODEID",i); //TPDO3
TestHexTypes<uint32_t>::test_hex_node(0x400+i,"0x400+$NODEID",i); //RPDO3
TestHexTypes<uint32_t>::test_hex_node(0x480+i,"0x480+$NODEID",i); //TPDO4
TestHexTypes<uint32_t>::test_hex_node(0x500+i,"0x500+$NODEID",i); //RPDO4
TestHexTypes<uint32_t>::test_hex_node(0x580+i,"0x580+$NODEID",i); // TSDO
TestHexTypes<uint32_t>::test_hex_node(0x600+i,"0x600+$NODEID",i); // RSDO
TestHexTypes<uint32_t>::test_hex_node(0x700+i,"0x700+$NODEID",i); //NMT
}
}
void set_access( canopen::ObjectDict::Entry &entry, std::string access);
void testAccess(bool c, bool r, bool w, const char* variants[]){
canopen::ObjectDict::Entry entry;
for(const char ** v = variants; *v; ++v){
SCOPED_TRACE(*v);
entry.constant = !c;
entry.readable = !r;
entry.writable = !w;
set_access(entry, *v);
ASSERT_EQ(c, entry.constant);
ASSERT_EQ(r, entry.readable);
ASSERT_EQ(w, entry.writable);
}
}
TEST(TestAccessString, TestRO)
{
const char* variants[] = {"ro", "Ro", "rO", "RO", 0};
testAccess(false, true, false, variants);
}
TEST(TestAccessString, TestWO)
{
const char* variants[] = {"wo", "Wo", "wO", "WO", 0};
testAccess(false, false, true, variants);
}
TEST(TestAccessString, TestRW)
{
const char* variants[] = {
"rw" , "Rw" , "rW" , "Rw",
"rwr", "Rwr", "rWr", "Rwr",
"rwR", "RwR", "rWR", "RwR",
"rww", "Rww", "rWw", "Rww",
"rwW", "RwW", "rWW", "RwW",
0};
testAccess(false, true, true, variants);
}
TEST(TestAccessString, TestConst)
{
const char* variants[] = {
"const" , "Const" , "CONST", 0};
testAccess(true, true, false, variants);
}
// Run all the tests that were declared with TEST()
int main(int argc, char **argv){
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}