mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-19 11:07:16 +08:00
Samuel Sadok
da7f719283
Consistent naming makes code autogeneration easier. This commit does not claim that the exported names of the variables were more sensible than the in-code names. However changing the exported names can break external tools and needs to happen in a controlled and documented way.
90 lines
3.0 KiB
C++
90 lines
3.0 KiB
C++
|
|
#include <doctest.h>
|
|
#include <algorithm>
|
|
#include <cstring>
|
|
|
|
#include "communication/can_helpers.hpp"
|
|
|
|
enum InputMode {
|
|
INPUT_MODE_INACTIVE,
|
|
INPUT_MODE_PASSTHROUGH,
|
|
INPUT_MODE_VEL_RAMP,
|
|
INPUT_MODE_POS_FILTER,
|
|
INPUT_MODE_MIX_CHANNELS,
|
|
INPUT_MODE_TRAP_TRAJ,
|
|
};
|
|
|
|
TEST_SUITE("CAN Functions") {
|
|
TEST_CASE("reverse") {
|
|
can_Message_t rxmsg;
|
|
rxmsg.id = 0x000;
|
|
rxmsg.isExt = false;
|
|
rxmsg.len = 8;
|
|
|
|
rxmsg.buf[0] = 0x12;
|
|
rxmsg.buf[1] = 0x34;
|
|
|
|
std::reverse(std::begin(rxmsg.buf), std::end(rxmsg.buf));
|
|
CHECK(rxmsg.buf[0] == 0x00);
|
|
CHECK(rxmsg.buf[6] == 0x34);
|
|
CHECK(rxmsg.buf[7] == 0x12);
|
|
}
|
|
|
|
TEST_CASE("getSignal") {
|
|
can_Message_t rxmsg;
|
|
|
|
auto val = 0x1234;
|
|
std::memcpy(rxmsg.buf, &val, sizeof(val));
|
|
|
|
val = can_getSignal<uint16_t>(rxmsg, 0, 16, true, 1, 0);
|
|
CHECK(val == 0x1234);
|
|
|
|
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 = can_getSignal<float>(rxmsg, 0, 32, true, 1, 0);
|
|
CHECK(floatVal == 1234.6789f);
|
|
|
|
can_Message_t msg;
|
|
msg.id = 0x00E;
|
|
msg.buf[0] = 0x96;
|
|
msg.buf[1] = 0x00;
|
|
msg.buf[2] = 0x00;
|
|
msg.buf[3] = 0x00;
|
|
CHECK(can_getSignal<int32_t>(msg, 0, 32, true, 0.01f, 0.0f) == 1.50f);
|
|
}
|
|
|
|
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);
|
|
}
|
|
|
|
TEST_CASE("getSignal enums") {
|
|
can_Message_t rxmsg;
|
|
rxmsg.buf[0] = INPUT_MODE_MIX_CHANNELS;
|
|
rxmsg.buf[1] = INPUT_MODE_PASSTHROUGH;
|
|
CHECK(static_cast<InputMode>(can_getSignal<InputMode>(rxmsg, 0, 8, true, 1, 0)) == INPUT_MODE_MIX_CHANNELS);
|
|
CHECK(static_cast<InputMode>(can_getSignal<InputMode>(rxmsg, 8, 8, true, 1, 0)) == INPUT_MODE_PASSTHROUGH);
|
|
}
|
|
} |