Added testing for master board parsing and fixed unparsed fields

2026-04-10 01:50:46 +02:00 · 2017-07-09 04:04:22 +02:00
parent 1e724dcd33
commit 8e8a0428b0
3 changed files with 141 additions and 0 deletions
--- 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";
+}