best plans etc. forgot to include test folder.

Author: rbirac

test/test_comms.cpp

@@ -0,0 +1,96 @@
+#include "um7/comms.h"
+#include "um7/registers.h"
+#include "serial/serial.h"
+#include <gtest/gtest.h>
+#include <fcntl.h>
+
+class FakeSerial : public ::testing::Test {
+  protected:
+    /**
+     * What's going on here? The posix_openpt() call establishes a pseudo terminal
+     * and gives us a fd for the other end of it. So we can connect up a Serial
+     * instance to the pty, and have full control over reading-from and writing-to
+     * the driver.
+     */
+    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(um7::Comms::message(DREG_MAG_RAW_XY, std::string("\x1\x2\x3\x4")));
+  write_serial(msg);
+
+  um7::Comms sensor(&ser);
+  um7::Registers registers;
+  ASSERT_EQ(DREG_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(um7::Comms::message(DREG_ACCEL_RAW_XY, std::string("\x5\x6\x7\x8\x9\xa\0\0", 8)));
+  write_serial(msg);
+
+  um7::Comms sensor(&ser);
+  um7::Registers registers;
+  ASSERT_EQ(DREG_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(um7::Comms::message(DREG_MAG_RAW_XY, std::string("\x1\x2\x3\x4")));
+  msg[msg.length() - 1]++;
+  write_serial(msg);
+
+  um7::Comms sensor(&ser);
+  um7::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(um7::Comms::message(CONFIG_REG_START_ADDRESS, std::string()));
+  msg = "ssssssnsnsns" + msg;
+  write_serial(msg);
+
+  um7::Comms sensor(&ser);
+  EXPECT_EQ(CONFIG_REG_START_ADDRESS, 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);
+  um7::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();
+}

test/test_registers.cpp

@@ -0,0 +1,92 @@
+#include "um7/registers.h"
+#include <gtest/gtest.h>
+
+#include <arpa/inet.h>
+
+
+TEST(ByteOrder, compare_with_htons)
+{
+  // Arbitrary, just try a selection of values.
+  for(uint16_t host_num = 0; host_num < 50000; host_num += 71) { 
+    uint16_t net_num = htons(host_num);
+    uint16_t memcpy_num = 0;
+    um7::memcpy_network(&memcpy_num, &host_num, sizeof(host_num));
+    EXPECT_EQ(memcpy_num, net_num);
+  }
+}
+
+TEST(ByteOrder, compare_with_htonl)
+{
+  for(uint32_t host_num = 0; host_num < 4000000000; host_num += 1299827) { 
+    uint32_t net_num = htonl(host_num);
+    uint32_t memcpy_num = 0;
+    um7::memcpy_network(&memcpy_num, &host_num, sizeof(host_num));
+    EXPECT_EQ(memcpy_num, net_num);
+  }
+}
+
+TEST(Accessor, basic_int)
+{
+  um7::Registers r;
+  r.write_raw(5, "\x01\x02\x03\x04\x05\x06");
+  
+  um7::Accessor<uint16_t> u16(&r, 5, 3);
+  EXPECT_EQ(0x0102, u16.get(0));
+  EXPECT_EQ(0x0304, u16.get(1));
+  EXPECT_EQ(0x0506, u16.get(2));
+
+  um7::Accessor<uint16_t> u16n(&r, 6, 1);
+  EXPECT_EQ(0x0506, u16n.get(0));
+
+  um7::Accessor<uint32_t> u32(&r, 5, 3);
+  EXPECT_EQ(0x01020304, u32.get(0));
+}
+
+TEST(Accessor, basic_float)
+{
+  um7::Registers r;
+  r.write_raw(10, "\x01\x02\x03\x04\x05\x06\x07\x08");
+
+  um7::Accessor<float> f(&r, 10, 2);
+  union {
+    float val;
+    uint32_t bytes;
+  };
+  bytes = 0x01020304;
+  EXPECT_FLOAT_EQ(val, f.get(0));
+  bytes = 0x05060708;
+  EXPECT_FLOAT_EQ(val, f.get(1));
+}
+
+TEST(Accessor, scaled_int)
+{
+  um7::Registers r;
+  r.write_raw(11, "\x01\x02\x03\x04");
+
+  const float scale(0.001);
+  um7::Accessor<int16_t> i16(&r, 11, 2, scale);
+  EXPECT_FLOAT_EQ(scale * 0x0102, i16.get_scaled(0));
+  EXPECT_FLOAT_EQ(scale * 0x0304, i16.get_scaled(1));
+}
+
+TEST(Accessor, set_float)
+{
+  um7::Registers r;
+  r.mag_bias.set(0, 0.123);
+  r.mag_bias.set_scaled(1, 0.987);
+  r.mag_bias.set_scaled(2, 0.555);
+
+  float check;
+  um7::memcpy_network(&check, (float*)r.mag_bias.raw(), 4);
+  EXPECT_FLOAT_EQ(0.123, check);
+  um7::memcpy_network(&check, (float*)r.mag_bias.raw() + 1, 4);
+  EXPECT_FLOAT_EQ(0.987, check);
+  um7::memcpy_network(&check, (float*)r.mag_bias.raw() + 2, 4);
+  EXPECT_FLOAT_EQ(0.555, check);
+}
+
+int main(int argc, char **argv){
+testing::InitGoogleTest(&argc, argv);
+return RUN_ALL_TESTS();
+}
+