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Add tests for can_setSignal

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This commit is contained in:
Paul Guenette
2019-05-19 22:23:35 +02:00
parent 6f2802746b
commit 8d0f971257
1 changed files with 70 additions and 10 deletions
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Firmware/Tests/test_runner.cpp
+70 -10
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@@ -13,6 +13,7 @@
using std::cout;
using std::endl;
struct can_Message_t {
uint32_t id = 0x000; // 11-bit max is 0x7ff, 29-bit max is 0x1FFFFFFF
bool isExt = false;
@@ -22,16 +23,18 @@ struct can_Message_t {
};
struct can_Signal_t {
uint8_t startBit = 0;
uint8_t length = 16;
bool isIntel = true;
float factor = 1.0f;
float offset = 0.0f;
const uint8_t startBit;
const uint8_t length;
const bool isIntel;
const float factor;
const float offset;
};
// Fetch a specific signal from the message
template <typename T>
T getSignal(can_Message_t msg, uint8_t startBit, uint8_t length, bool isIntel, float factor, float offset) {
T can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) {
uint64_t tempVal = 0;
uint64_t mask = (1ULL << length) - 1;
@@ -49,12 +52,45 @@ T getSignal(can_Message_t msg, uint8_t startBit, uint8_t length, bool isIntel, f
return static_cast<T>((retVal * factor) + offset);
}
template <typename T>
void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) {
T scaledVal = (val - offset) / factor;
uint64_t valAsBits = 0;
std::memcpy(&valAsBits, &scaledVal, sizeof(scaledVal));
uint64_t mask = (1ULL << length) - 1;
if (isIntel) {
uint64_t data = 0;
std::memcpy(&data, msg.buf, sizeof(data));
data &= ~(mask << startBit);
data |= valAsBits << startBit;
std::memcpy(msg.buf, &data, sizeof(data));
} else {
uint64_t data = 0;
std::reverse(std::begin(msg.buf), std::end(msg.buf));
std::memcpy(&data, msg.buf, sizeof(data));
data &= ~(mask << (64 - startBit - length));
data |= valAsBits << (64 - startBit - length);
std::memcpy(msg.buf, &data, sizeof(data));
std::reverse(std::begin(msg.buf), std::end(msg.buf));
}
}
// template<typename T>
// T can_getSignal(can_Message_t msg, can_Signal_t signal){
// return can_getSignal(msg, signal.startBit, signal.length, signal.isIntel, signal.factor, signal.offset);
// }
TEST_SUITE("getSignal") {
TEST_CASE("fake"){
cout << endl;
}
TEST_SUITE("CAN Functions") {
TEST_CASE("reverse") {
can_Message_t rxmsg;
rxmsg.id = 0x000;
@@ -76,15 +112,39 @@ TEST_SUITE("getSignal") {
auto val = 0x1234;
std::memcpy(rxmsg.buf, &val, sizeof(val));
val = getSignal<uint16_t>(rxmsg, 0, 16, true, 1, 0);
val = can_getSignal<uint16_t>(rxmsg, 0, 16, true, 1, 0);
CHECK(val == 0x1234);
val = getSignal<uint16_t>(rxmsg, 0, 16, false, 1, 0);
val = can_getSignal<uint16_t>(rxmsg, 0, 16, false, 1, 0);
CHECK(val == 0x3412);
float myFloat = 1234.6789f;
std::memcpy(rxmsg.buf, &myFloat, sizeof(myFloat));
auto floatVal = getSignal<float>(rxmsg, 0, 32, true, 1, 0);
auto floatVal = can_getSignal<float>(rxmsg, 0, 32, true, 1, 0);
CHECK(floatVal == 1234.6789f);
}
TEST_CASE("setSignal") {
can_Message_t txmsg;
can_setSignal<uint16_t>(txmsg, 0x1234, 0, 16, true, 1.0f, 0.0f);
CHECK(can_getSignal<uint16_t>(txmsg, 0, 16, true, 1.0f, 0.0f) == 0x1234);
can_setSignal<uint16_t>(txmsg, 0xABCD, 16, 16, true, 1.0f, 0.0f);
CHECK(can_getSignal<uint16_t>(txmsg, 0, 16, true, 1.0f, 0.0f) == 0x1234);
CHECK(can_getSignal<uint16_t>(txmsg, 16, 16, true, 1.0f, 0.0f) == 0xABCD);
can_setSignal<float>(txmsg, 1234.5678f, 32, 32, true, 1.0f, 0.0f);
CHECK(can_getSignal<uint16_t>(txmsg, 0, 16, true, 1.0f, 0.0f) == 0x1234);
CHECK(can_getSignal<uint16_t>(txmsg, 16, 16, true, 1.0f, 0.0f) == 0xABCD);
CHECK(can_getSignal<float>(txmsg, 32, 32, true, 1.0f, 0.0f));
can_setSignal<uint16_t>(txmsg, 0x1234, 0, 16, false, 1.0f, 0.0f);
CHECK(can_getSignal<uint16_t>(txmsg, 0, 16, false, 1.0f, 0.0f) == 0x1234);
CHECK(can_getSignal<uint16_t>(txmsg, 16, 16, true, 1.0f, 0.0f) == 0xABCD);
CHECK(can_getSignal<float>(txmsg, 32, 32, true, 1.0f, 0.0f));
can_setSignal<float>(txmsg, 234981.0f, 12, 32, false, 2.0f, 1.1f);
CHECK(can_getSignal<float>(txmsg, 12, 32, false, 2.0f, 1.1f) == 234981.0f);
}
}