From 8e8a0428b071fdd087f3d1cbda6b333a969bb7f2 Mon Sep 17 00:00:00 2001
From: Simon Rasmussen <zetlon@gmail.com>
Date: Sun, 9 Jul 2017 04:04:22 +0200
Subject: [PATCH] Added testing for master board parsing and fixed unparsed
 fields

---
 CMakeLists.txt            |   1 +
 src/ur/master_board.cpp   |   4 ++
 tests/ur/master_board.cpp | 136 ++++++++++++++++++++++++++++++++++++++
 3 files changed, 141 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a950358..be227ba 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -218,6 +218,7 @@ install(DIRECTORY include/${PROJECT_NAME}/
 
 set(${PROJECT_NAME}_TEST_SOURCES
     tests/ur/rt_state.cpp
+    tests/ur/master_board.cpp
     tests/ur/robot_mode.cpp)
 
 if (CATKIN_ENABLE_TESTING)
diff --git a/src/ur/master_board.cpp b/src/ur/master_board.cpp
index c6aa924..0775a39 100644
--- a/src/ur/master_board.cpp
+++ b/src/ur/master_board.cpp
@@ -37,6 +37,8 @@ bool MasterBoardData_V1_X::parseWith(BinParser& bp)
     if (!bp.checkSize(MasterBoardData_V1_X::EURO_SIZE))
       return false;
 
+    bp.parse(euromap_input_bits);
+    bp.parse(euromap_output_bits);
     bp.parse(euromap_voltage);
     bp.parse(euromap_current);
   }
@@ -63,6 +65,8 @@ bool MasterBoardData_V3_0__1::parseWith(BinParser& bp)
     if (!bp.checkSize(MasterBoardData_V3_0__1::EURO_SIZE))
       return false;
 
+    bp.parse(euromap_input_bits);
+    bp.parse(euromap_output_bits);
     bp.parse(euromap_voltage);
     bp.parse(euromap_current);
   }
diff --git a/tests/ur/master_board.cpp b/tests/ur/master_board.cpp
index e69de29..2af943f 100644
--- a/tests/ur/master_board.cpp
+++ b/tests/ur/master_board.cpp
@@ -0,0 +1,136 @@
+#include "ur_modern_driver/ur/master_board.h"
+#include <gtest/gtest.h>
+#include "ur_modern_driver/bin_parser.h"
+#include "ur_modern_driver/log.h"
+#include "ur_modern_driver/test/random_data.h"
+#include "ur_modern_driver/test/utils.h"
+#include "ur_modern_driver/types.h"
+
+TEST(MasterBoardData_V1_X, testRandomDataParsing)
+{
+  RandomDataTest rdt(71);
+  rdt.set<uint8_t>(1, 58); //sets euromap67_interface_installed to true
+  BinParser bp = rdt.getParser();
+  MasterBoardData_V1_X state;
+
+  ASSERT_TRUE(state.parseWith(bp)) << "parse() returned false";
+
+  ASSERT_EQ((rdt.getNext<uint16_t, 10>()), state.digital_input_bits);
+  ASSERT_EQ((rdt.getNext<uint16_t, 10>()), state.digital_output_bits);
+  ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_input_range0);
+  ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_input_range1);
+  ASSERT_EQ(rdt.getNext<double>(), state.analog_input0);
+  ASSERT_EQ(rdt.getNext<double>(), state.analog_input1);
+  ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_output_domain0);
+  ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_output_domain1);
+  ASSERT_EQ(rdt.getNext<double>(), state.analog_output0);
+  ASSERT_EQ(rdt.getNext<double>(), state.analog_output1);
+  ASSERT_EQ(rdt.getNext<float>(), state.master_board_temperature);
+  ASSERT_EQ(rdt.getNext<float>(), state.robot_voltage_48V);
+  ASSERT_EQ(rdt.getNext<float>(), state.robot_current);
+  ASSERT_EQ(rdt.getNext<float>(), state.master_IO_current);
+  ASSERT_EQ(rdt.getNext<uint8_t>(), state.master_safety_state);
+  ASSERT_EQ(rdt.getNext<bool>(), state.master_on_off_state);
+  ASSERT_EQ(rdt.getNext<bool>(), state.euromap67_interface_installed);
+  ASSERT_EQ(rdt.getNext<int32_t>(), state.euromap_input_bits);
+  ASSERT_EQ(rdt.getNext<int32_t>(), state.euromap_output_bits);
+  ASSERT_EQ(rdt.getNext<int16_t>(), state.euromap_voltage);
+  ASSERT_EQ(rdt.getNext<int16_t>(), state.euromap_current);
+  
+  ASSERT_TRUE(bp.empty()) << "Did not consume all data";
+}
+
+TEST(MasterBoardData_V3_0__1, testRandomDataParsing)
+{
+  RandomDataTest rdt(83);
+  rdt.set<uint8_t>(1, 62); //sets euromap67_interface_installed to true
+  BinParser bp = rdt.getParser();
+  MasterBoardData_V3_0__1 state;
+  ASSERT_TRUE(state.parseWith(bp)) << "parse() returned false";
+
+  ASSERT_EQ((rdt.getNext<uint32_t, 18>()), state.digital_input_bits);
+  ASSERT_EQ((rdt.getNext<uint32_t, 18>()), state.digital_output_bits);
+  ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_input_range0);
+  ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_input_range1);
+  ASSERT_EQ(rdt.getNext<double>(), state.analog_input0);
+  ASSERT_EQ(rdt.getNext<double>(), state.analog_input1);
+  ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_output_domain0);
+  ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_output_domain1);
+  ASSERT_EQ(rdt.getNext<double>(), state.analog_output0);
+  ASSERT_EQ(rdt.getNext<double>(), state.analog_output1);
+  ASSERT_EQ(rdt.getNext<float>(), state.master_board_temperature);
+  ASSERT_EQ(rdt.getNext<float>(), state.robot_voltage_48V);
+  ASSERT_EQ(rdt.getNext<float>(), state.robot_current);
+  ASSERT_EQ(rdt.getNext<float>(), state.master_IO_current);
+  ASSERT_EQ(rdt.getNext<uint8_t>(), state.safety_mode);
+  ASSERT_EQ(rdt.getNext<bool>(), state.in_reduced_mode);
+  ASSERT_EQ(rdt.getNext<bool>(), state.euromap67_interface_installed);
+  ASSERT_EQ(rdt.getNext<int32_t>(), state.euromap_input_bits);
+  ASSERT_EQ(rdt.getNext<int32_t>(), state.euromap_output_bits);
+  ASSERT_EQ(rdt.getNext<float>(), state.euromap_voltage);
+  ASSERT_EQ(rdt.getNext<float>(), state.euromap_current);
+  
+  rdt.skip(sizeof(uint32_t));
+
+  ASSERT_TRUE(bp.empty()) << "Did not consume all data";
+}
+
+TEST(MasterBoardData_V3_2, testRandomDataParsing)
+{
+  RandomDataTest rdt(85);
+  rdt.set<uint8_t>(1, 62); //sets euromap67_interface_installed to true
+  BinParser bp = rdt.getParser();
+  MasterBoardData_V3_2 state;
+  ASSERT_TRUE(state.parseWith(bp)) << "parse() returned false";
+
+  ASSERT_EQ((rdt.getNext<uint32_t, 18>()), state.digital_input_bits);
+  ASSERT_EQ((rdt.getNext<uint32_t, 18>()), state.digital_output_bits);
+  ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_input_range0);
+  ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_input_range1);
+  ASSERT_EQ(rdt.getNext<double>(), state.analog_input0);
+  ASSERT_EQ(rdt.getNext<double>(), state.analog_input1);
+  ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_output_domain0);
+  ASSERT_EQ(rdt.getNext<int8_t>(), state.analog_output_domain1);
+  ASSERT_EQ(rdt.getNext<double>(), state.analog_output0);
+  ASSERT_EQ(rdt.getNext<double>(), state.analog_output1);
+  ASSERT_EQ(rdt.getNext<float>(), state.master_board_temperature);
+  ASSERT_EQ(rdt.getNext<float>(), state.robot_voltage_48V);
+  ASSERT_EQ(rdt.getNext<float>(), state.robot_current);
+  ASSERT_EQ(rdt.getNext<float>(), state.master_IO_current);
+  ASSERT_EQ(rdt.getNext<uint8_t>(), state.safety_mode);
+  ASSERT_EQ(rdt.getNext<bool>(), state.in_reduced_mode);
+  ASSERT_EQ(rdt.getNext<bool>(), state.euromap67_interface_installed);
+  ASSERT_EQ(rdt.getNext<int32_t>(), state.euromap_input_bits);
+  ASSERT_EQ(rdt.getNext<int32_t>(), state.euromap_output_bits);
+  ASSERT_EQ(rdt.getNext<float>(), state.euromap_voltage);
+  ASSERT_EQ(rdt.getNext<float>(), state.euromap_current);
+  rdt.skip(sizeof(uint32_t));
+  ASSERT_EQ(rdt.getNext<uint8_t>(), state.operational_mode_selector_input);
+  ASSERT_EQ(rdt.getNext<uint8_t>(), state.three_position_enabling_device_input);
+
+  ASSERT_TRUE(bp.empty()) << "Did not consume all data";
+}
+
+TEST(MasterBoardData_V1_X, testTooSmallBuffer)
+{
+  RandomDataTest rdt(10);
+  BinParser bp = rdt.getParser();
+  MasterBoardData_V1_X state;
+  EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
+}
+
+TEST(MasterBoardData_V3_0__1, testTooSmallBuffer)
+{
+  RandomDataTest rdt(10);
+  BinParser bp = rdt.getParser();
+  MasterBoardData_V3_0__1 state;
+  EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
+}
+
+TEST(MasterBoardData_V3_2, testTooSmallBuffer)
+{
+  RandomDataTest rdt(10);
+  BinParser bp = rdt.getParser();
+  MasterBoardData_V3_2 state;
+  EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
+}