renamed package

include/ur_rtde_driver/test/random_data.h

@@ -0,0 +1,80 @@
+/*
+ * Copyright 2017, 2018 Simon Rasmussen (refactor)
+ *
+ * Copyright 2015, 2016 Thomas Timm Andersen (original version)
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+#include <inttypes.h>
+#include <algorithm>
+#include <bitset>
+#include <climits>
+#include <cstddef>
+#include <functional>
+#include <random>
+#include "ur_rtde_driver/bin_parser.h"
+
+class RandomDataTest
+{
+private:
+  using random_bytes_engine = std::independent_bits_engine<std::default_random_engine, CHAR_BIT, uint8_t>;
+  uint8_t* buf_;
+  BinParser bp_;
+  size_t n_;
+
+public:
+  RandomDataTest(size_t n) : buf_(new uint8_t[n]), bp_(buf_, n), n_(n)
+  {
+    random_bytes_engine rbe;
+    std::generate(buf_, buf_ + n, std::ref(rbe));
+  }
+
+  ~RandomDataTest()
+  {
+    delete buf_;
+  }
+
+  BinParser getParser(bool skip = false)
+  {
+    return BinParser(buf_, n_ - (skip ? sizeof(int32_t) : 0));
+  }
+
+  template <typename T>
+  T getNext()
+  {
+    T actual;
+    bp_.parse(actual);
+    return actual;
+  }
+
+  template <typename T, size_t N>
+  std::bitset<N> getNext()
+  {
+    T actual;
+    bp_.parse(actual);
+    return std::bitset<N>(actual);
+  }
+
+  template <typename T>
+  void set(T data, size_t pos)
+  {
+    std::memcpy(&data, buf_ + pos, sizeof(T));
+  }
+
+  void skip(size_t n)
+  {
+    bp_.consume(n);
+  }
+};

include/ur_rtde_driver/test/utils.h

@@ -0,0 +1,25 @@
+/*
+ * Copyright 2017, 2018 Simon Rasmussen (refactor)
+ *
+ * Copyright 2015, 2016 Thomas Timm Andersen (original version)
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#define ASSERT_DOUBLE_ARRAY_EQ(fn, name)                                                                               \
+  for (auto const& v : name)                                                                                           \
+  {                                                                                                                    \
+    ASSERT_EQ(fn, v) << #name " failed parsing";                                                                       \
+  }