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testServiceParserMultipleFT.cpp
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1/*
2 * Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT)
3 * All rights reserved.
4 * Author: Luca Tricerri
5 * This software may be modified and distributed under the terms of the
6 * BSD-3-Clause license. See the accompanying LICENSE file for details.
7 */
8
9#include "gmock/gmock.h"
10#include "gtest/gtest.h"
11
12#include <yarp/os/ResourceFinder.h>
13
14#include <iostream>
15#include <vector>
16
17#include "serviceParserMultipleFt.h"
18#include "testUtils.h"
19
20using namespace testing;
21using ::testing::_;
22using ::testing::InvokeArgument;
23using ::testing::Matcher;
24
25TEST(ServiceParserMultipleFT, check_settings_positive_001)
26{
27 yarp::os::Bottle bottle;
28 bottle.fromString("(SETTINGS (ftPeriod 10) (enabledSensors fakeId) (temperaturePeriod 100) (useCalibration true) )");
29
30 ServiceParserMultipleFt_mock serviceParser;
31
32 bool ret = serviceParser.checkSettings(bottle);
33
34 std::map<std::string /*sensor id*/, FtInfo> expected = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_unknown, 0, 0, 0, 0, 0, 0, 0}}};
35
36 EXPECT_TRUE(ret);
37
38 ASSERT_EQ(expected.size(), serviceParser.ftInfo_.size());
39 EXPECT_EQ(expected.at("fakeId"), serviceParser.ftInfo_.at("fakeId"));
40}
41
42TEST(ServiceParserMultipleFT, check_settings_positive_002)
43{
44 yarp::os::Bottle bottle;
45 bottle.fromString("(SETTINGS (ftPeriod 10 20) (enabledSensors fakeId fakeId1) (temperaturePeriod 100 200) (useCalibration true false) )");
46
47 ServiceParserMultipleFt_mock serviceParser;
48
49 bool ret = serviceParser.checkSettings(bottle);
50
51 std::map<std::string /*sensor id*/, FtInfo> expected = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_unknown, 0, 0, 0, 0, 0, 0, 0}},
52 {"fakeId1", {20, 200, eoas_ft_mode_raw, eobrd_unknown, 0, 0, 0, 0, 0, 0, 0}}};
53
54 EXPECT_TRUE(ret);
55
56 ASSERT_EQ(expected.size(), serviceParser.ftInfo_.size());
57 EXPECT_EQ(expected.at("fakeId"), serviceParser.ftInfo_.at("fakeId"));
58 EXPECT_EQ(expected.at("fakeId1"), serviceParser.ftInfo_.at("fakeId1"));
59}
60
61TEST(ServiceParserMultipleFT, check_settings_negative_001)
62{
63 yarp::os::Bottle bottle;
64 bottle.fromString(
65 "(SETTINGS (ftPeriod 10 20 30 40 50) (enabledSensors fakeId0 fakeId1 fakeId2 fakeId13 fakeId4 ) (temperaturePeriod 100 200 998 997 996) (useCalibration true false true true true) )");
66
67 ServiceParserMultipleFt_mock serviceParser;
68
69 bool ret = serviceParser.checkSettings(bottle);
70
71 EXPECT_FALSE(ret);
72}
73
74TEST(ServiceParserMultipleFT, check_settings_negative_002)
75{
76 yarp::os::Bottle bottle;
77 bottle.fromString(
78 "(SETTINGS (ftPeriod 10 20 30 40) (enabledSensors fakeId0 fakeId1 fakeId2 fakeId13 fakeId4 ) (temperaturePeriod 100 200 998 997 996) (useCalibration true false true true true) )");
79
80 ServiceParserMultipleFt_mock serviceParser;
81
82 bool ret = serviceParser.checkSettings(bottle);
83
84 EXPECT_FALSE(ret);
85}
86
87TEST(ServiceParserMultipleFT, check_settings_negative_003)
88{
89 yarp::os::Bottle bottle;
90 bottle.fromString(
91 "(SETTINGS (ftPeriod 10 20 30 40 50) (enabledSensors fakeId0 fakeId1 fakeId2 fakeId13 fakeId4 ) (temperaturePeriod 100 200 998 997) (useCalibration true false true true true) )");
92
93 ServiceParserMultipleFt_mock serviceParser;
94
95 bool ret = serviceParser.checkSettings(bottle);
96
97 EXPECT_FALSE(ret);
98}
99
100TEST(ServiceParserMultipleFT, check_settings_negative_004)
101{
102 yarp::os::Bottle bottle;
103 bottle.fromString(
104 "(SETTINGS (ftPeriod 10 20 30 40 50) (enabledSensors fakeId0 fakeId1 fakeId2 fakeId13 fakeId4 ) (temperaturePeriod 100 200 998 997 996) (useCalibration true false true true ) )");
105
106 ServiceParserMultipleFt_mock serviceParser;
107
108 bool ret = serviceParser.checkSettings(bottle);
109
110 EXPECT_FALSE(ret);
111}
112
113TEST(ServiceParserMultipleFT, check_property_sensors_positive_001)
114{
115 ServiceParserMultipleFt_mock serviceParser;
116 yarp::os::Bottle bottle;
117 bottle.fromString("(SENSORS (id fakeId) (board strain2) (location CAN2:13) (framename fakeFrameName) )");
118 serviceParser.ftInfo_ = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_unknown, 0, 0, 0, 0, 0, 0, 0, "fakeFrameName"}}};
119
120 bool ret = serviceParser.checkPropertySensors(bottle);
121
122 std::map<std::string /*sensor id*/, FtInfo> expected = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 0, 0, 0, 0, 0, "fakeFrameName"}}};
123
124 EXPECT_TRUE(ret);
125
126 ASSERT_EQ(expected.size(), serviceParser.ftInfo_.size());
127 EXPECT_EQ(expected.at("fakeId"), serviceParser.ftInfo_.at("fakeId"));
128}
129
130TEST(ServiceParserMultipleFT, check_property_sensors_positive_002)
131{
132 ServiceParserMultipleFt_mock serviceParser;
133 yarp::os::Bottle bottle;
134 bottle.fromString("(SENSORS (id fakeId fakeId1) (board strain2 strain2) (location CAN2:13 CAN2:14) (framename fakeFrameName1 fakeFrameName2) )");
135 serviceParser.ftInfo_ = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_unknown, 2, 13, 0, 0, 0, 0, 0, "fakeFrameName1"}},
136 {"fakeId1", {20, 200, eoas_ft_mode_raw, eobrd_unknown, 2, 14, 0, 0, 0, 0, 0, "fakeFrameName2"}}};
137
138 bool ret = serviceParser.checkPropertySensors(bottle);
139
140 std::map<std::string /*sensor id*/, FtInfo> expected = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 0, 0, 0, 0, 0, "fakeFrameName1"}},
141 {"fakeId1", {20, 200, eoas_ft_mode_raw, eobrd_strain2, 2, 14, 0, 0, 0, 0, 0, "fakeFrameName2"}}};
142
143 EXPECT_TRUE(ret);
144
145 ASSERT_EQ(expected.size(), serviceParser.ftInfo_.size());
146 EXPECT_EQ(expected.at("fakeId"), serviceParser.ftInfo_.at("fakeId"));
147 EXPECT_EQ(expected.at("fakeId1"), serviceParser.ftInfo_.at("fakeId1"));
148}
149
150TEST(ServiceParserMultipleFT, check_property_sensors_positive_003)
151{
152 ServiceParserMultipleFt_mock serviceParser;
153 yarp::os::Bottle bottle;
154 bottle.fromString("(SENSORS (id fakeId fakeId1) (board strain2 strain2) (location CAN2:13 CAN2:14) )");
155 serviceParser.ftInfo_ = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_unknown, 0, 0, 0, 0, 0, 0, 0}}};
156
157 bool ret = serviceParser.checkPropertySensors(bottle);
158
159 std::map<std::string /*sensor id*/, FtInfo> expected = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 0, 0, 0, 0, 0}}};
160
161 EXPECT_TRUE(ret);
162
163 ASSERT_EQ(expected.size(), serviceParser.ftInfo_.size());
164 EXPECT_EQ(expected.at("fakeId"), serviceParser.ftInfo_.at("fakeId"));
165}
166
167TEST(ServiceParserMultipleFT, check_property_sensors_positive_004)
168{
169 ServiceParserMultipleFt_mock serviceParser;
170 yarp::os::Bottle bottle;
171 bottle.fromString("(SENSORS (id fakeId) (board eobrd_strain2) (location CAN2:13) )");
172 serviceParser.ftInfo_ = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_unknown, 0, 0, 0, 0, 0, 0, 0}}};
173
174 bool ret = serviceParser.checkPropertySensors(bottle);
175
176 std::map<std::string /*sensor id*/, FtInfo> expected = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 0, 0, 0, 0, 0}}};
177
178 EXPECT_TRUE(ret);
179
180 ASSERT_EQ(expected.size(), serviceParser.ftInfo_.size());
181 EXPECT_EQ(expected.at("fakeId"), serviceParser.ftInfo_.at("fakeId"));
182}
183
184TEST(ServiceParserMultipleFT, check_property_sensors_positive_005)
185{
186 ServiceParserMultipleFt_mock serviceParser;
187 yarp::os::Bottle bottle;
188 bottle.fromString("(SENSORS (id fakeId) (board eobrd_strain) (location CAN2:13) )");
189 serviceParser.ftInfo_ = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_unknown, 0, 0, 0, 0, 0, 0, 0}}};
190
191 bool ret = serviceParser.checkPropertySensors(bottle);
192
193 std::map<std::string /*sensor id*/, FtInfo> expected = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain, 2, 13, 0, 0, 0, 0, 0}}};
194
195 EXPECT_TRUE(ret);
196
197 ASSERT_EQ(expected.size(), serviceParser.ftInfo_.size());
198 EXPECT_EQ(expected.at("fakeId"), serviceParser.ftInfo_.at("fakeId"));
199}
200
201TEST(ServiceParserMultipleFT, check_property_sensors_negative_001)
202{
203 ServiceParserMultipleFt_mock serviceParser;
204 yarp::os::Bottle bottle;
205 bottle.fromString("(SENSORS (id fakeId) (board strain2) (location CAN2:14) )");
206 serviceParser.ftInfo_ = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_unknown, 0, 0, 0, 0, 0, 0, 0}}};
207
208 bool ret = serviceParser.checkPropertySensors(bottle);
209
210 std::map<std::string /*sensor id*/, FtInfo> expected = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 0, 0, 0, 0, 0}}};
211
212 EXPECT_TRUE(ret);
213
214 ASSERT_EQ(expected.size(), serviceParser.ftInfo_.size());
215 EXPECT_NE(expected.at("fakeId"), serviceParser.ftInfo_.at("fakeId"));
216}
217
218TEST(ServiceParserMultipleFT, check_property_sensors_negative_002)
219{
220 ServiceParserMultipleFt_mock serviceParser;
221 yarp::os::Bottle bottle;
222 bottle.fromString("(SENSORS (id fakeId) (board strain2) (location CANx:15) )");
223 serviceParser.ftInfo_ = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_unknown, 0, 0, 0, 0, 0, 0, 0}}};
224
225 bool ret = serviceParser.checkPropertySensors(bottle);
226
227 EXPECT_FALSE(ret);
228}
229
230TEST(ServiceParserMultipleFT, check_property_sensors_negative_003)
231{
232 ServiceParserMultipleFt_mock serviceParser;
233 yarp::os::Bottle bottle;
234 bottle.fromString("(SENSORS (id fakeId fakeId1) (board strain2 strain2) (location CAN2:13 CAN2:14) )");
235 serviceParser.ftInfo_ = {{"notexistent", {10, 100, eoas_ft_mode_calibrated, eobrd_unknown, 2, 13, 0, 0, 0, 0, 0}}, {"fakeId1", {20, 200, eoas_ft_mode_raw, eobrd_unknown, 2, 14, 0, 0, 0, 0, 0}}};
236
237 bool ret = serviceParser.checkPropertySensors(bottle);
238
239 EXPECT_FALSE(ret);
240}
241
242TEST(ServiceParserMultipleFT, check_property_sensors_negative_004)
243{
244 ServiceParserMultipleFt_mock serviceParser;
245 yarp::os::Bottle bottle;
246 bottle.fromString("(SENSORS (id fakeId fakeId1) (board wrongBoard strain2) (location CAN2:13 CAN2:14) )");
247 serviceParser.ftInfo_ = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_unknown, 2, 13, 0, 0, 0, 0, 0}}, {"fakeId1", {20, 200, eoas_ft_mode_raw, eobrd_unknown, 2, 14, 0, 0, 0, 0, 0}}};
248
249 bool ret = serviceParser.checkPropertySensors(bottle);
250
251 EXPECT_FALSE(ret);
252}
253
254TEST(ServiceParserMultipleFT, check_property_canboards_positive_001)
255{
256 ServiceParserMultipleFt_mock serviceParser;
257 yarp::os::Bottle bottle;
258 bottle.fromString("(CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 3) ) (FIRMWARE (major 4) (minor 5) (build 6) ) )");
259 serviceParser.ftInfo_ = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 0, 0, 0, 0, 0}}};
260
261 bool ret = serviceParser.checkPropertyCanBoards(bottle);
262
263 std::map<std::string /*sensor id*/, FtInfo> expected = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 2, 3, 4, 5, 6}}};
264
265 EXPECT_TRUE(ret);
266
267 ASSERT_EQ(expected.size(), serviceParser.ftInfo_.size());
268 EXPECT_EQ(expected.at("fakeId"), serviceParser.ftInfo_.at("fakeId"));
269}
270
271TEST(ServiceParserMultipleFT, check_property_canboards_positive_002)
272{
273 ServiceParserMultipleFt_mock serviceParser;
274 yarp::os::Bottle bottle;
275 bottle.fromString("(CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 3) ) (FIRMWARE (major 4) (minor 5) (build 6) ) )");
276 serviceParser.ftInfo_ = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 0, 0, 0, 0, 0}}, {"fakeId1", {10, 100, eoas_ft_mode_calibrated, eobrd_strain, 2, 13, 0, 0, 0, 0, 0}}};
277
278 bool ret = serviceParser.checkPropertyCanBoards(bottle);
279
280 std::map<std::string /*sensor id*/, FtInfo> expected = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 2, 3, 4, 5, 6}},
281 {"fakeId1", {10, 100, eoas_ft_mode_calibrated, eobrd_strain, 2, 13, 0, 0, 0, 0, 0}}};
282
283 EXPECT_TRUE(ret);
284
285 ASSERT_EQ(expected.size(), serviceParser.ftInfo_.size());
286 EXPECT_EQ(expected.at("fakeId"), serviceParser.ftInfo_.at("fakeId"));
287 EXPECT_EQ(expected.at("fakeId1"), serviceParser.ftInfo_.at("fakeId1"));
288}
289
290TEST(ServiceParserMultipleFT, check_property_canboards_positive_003)
291{
292 ServiceParserMultipleFt_mock serviceParser;
293 yarp::os::Bottle bottle;
294 bottle.fromString("(CANBOARDS (type strain2 strain) (PROTOCOL (major 2 7) (minor 3 8) ) (FIRMWARE (major 4 9) (minor 5 10) (build 6 11) ) )");
295 serviceParser.ftInfo_ = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 0, 0, 0, 0, 0}}, {"fakeId1", {10, 100, eoas_ft_mode_calibrated, eobrd_strain, 2, 13, 0, 0, 0, 0, 0}}};
296
297 bool ret = serviceParser.checkPropertyCanBoards(bottle);
298
299 std::map<std::string /*sensor id*/, FtInfo> expected = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 2, 3, 4, 5, 6}},
300 {"fakeId1", {10, 100, eoas_ft_mode_calibrated, eobrd_strain, 2, 13, 7, 8, 9, 10, 11}}};
301
302 EXPECT_TRUE(ret);
303
304 ASSERT_EQ(expected.size(), serviceParser.ftInfo_.size());
305 EXPECT_EQ(expected.at("fakeId"), serviceParser.ftInfo_.at("fakeId"));
306 EXPECT_EQ(expected.at("fakeId1"), serviceParser.ftInfo_.at("fakeId1"));
307}
308
309TEST(ServiceParserMultipleFT, check_property_canboards_positive_004)
310{
311 ServiceParserMultipleFt_mock serviceParser;
312 yarp::os::Bottle bottle;
313 bottle.fromString("(CANBOARDS (type eobrd_strain2) (PROTOCOL (major 2) (minor 3) ) (FIRMWARE (major 4) (minor 5) (build 6) ) )");
314 serviceParser.ftInfo_ = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 0, 0, 0, 0, 0}}};
315
316 bool ret = serviceParser.checkPropertyCanBoards(bottle);
317
318 std::map<std::string /*sensor id*/, FtInfo> expected = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 2, 3, 4, 5, 6}}};
319
320 EXPECT_TRUE(ret);
321
322 ASSERT_EQ(expected.size(), serviceParser.ftInfo_.size());
323 EXPECT_EQ(expected.at("fakeId"), serviceParser.ftInfo_.at("fakeId"));
324}
325
326TEST(ServiceParserMultipleFT, check_property_canboards_negative_001)
327{
328 ServiceParserMultipleFt_mock serviceParser;
329 yarp::os::Bottle bottle;
330 bottle.fromString("(CANBOARDS (type strain2 strain) (PROTOCOL (major 2 7) (minor 3 8) ) (FIRMWARE (major 4 9) (minor 5 10) (build 6 11) ) )");
331 serviceParser.ftInfo_ = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 0, 0, 0, 0, 0}}, {"fakeId1", {10, 100, eoas_ft_mode_calibrated, eobrd_unknown, 2, 13, 0, 0, 0, 0, 0}}};
332
333 bool ret = serviceParser.checkPropertyCanBoards(bottle);
334
335 std::map<std::string /*sensor id*/, FtInfo> expected = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 2, 3, 4, 5, 6}},
336 {"fakeId1", {10, 100, eoas_ft_mode_calibrated, eobrd_strain, 2, 13, 7, 8, 9, 10, 11}}};
337
338 EXPECT_TRUE(ret);
339
340 ASSERT_EQ(expected.size(), serviceParser.ftInfo_.size());
341 EXPECT_EQ(expected.at("fakeId"), serviceParser.ftInfo_.at("fakeId"));
342 EXPECT_NE(expected.at("fakeId1"), serviceParser.ftInfo_.at("fakeId1"));
343}
344
345TEST(ServiceParserMultipleFT, check_property_canboards_negative_002)
346{
347 ServiceParserMultipleFt_mock serviceParser;
348 yarp::os::Bottle bottle;
349 bottle.fromString("(CANBOARDS (type strain2 strain) (PROTOCOL (major 2 7) (minor 3 8) ) (FIRMWARE (major 4 9) (minor 5 10) (build 6 20) ) )");
350 serviceParser.ftInfo_ = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 0, 0, 0, 0, 0}}, {"fakeId1", {10, 100, eoas_ft_mode_calibrated, eobrd_unknown, 2, 13, 0, 0, 0, 0, 0}}};
351
352 bool ret = serviceParser.checkPropertyCanBoards(bottle);
353
354 std::map<std::string /*sensor id*/, FtInfo> expected = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 2, 3, 4, 5, 6}},
355 {"fakeId1", {10, 100, eoas_ft_mode_calibrated, eobrd_strain, 2, 13, 7, 8, 9, 10, 11}}};
356
357 EXPECT_TRUE(ret);
358
359 ASSERT_EQ(expected.size(), serviceParser.ftInfo_.size());
360 EXPECT_EQ(expected.at("fakeId"), serviceParser.ftInfo_.at("fakeId"));
361 EXPECT_NE(expected.at("fakeId1"), serviceParser.ftInfo_.at("fakeId1"));
362}
363
364TEST(ServiceParserMultipleFT, check_property_canboards_negative_003)
365{
366 ServiceParserMultipleFt_mock serviceParser;
367 yarp::os::Bottle bottle;
368 bottle.fromString("(CANBOARDS (type wrongboardname strain) (PROTOCOL (major 2 7) (minor 3 8) ) (FIRMWARE (major 4 9) (minor 5 10) (build 6 20) ) )");
369 serviceParser.ftInfo_ = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 0, 0, 0, 0, 0}}, {"fakeId1", {10, 100, eoas_ft_mode_calibrated, eobrd_unknown, 2, 13, 0, 0, 0, 0, 0}}};
370
371 bool ret = serviceParser.checkPropertyCanBoards(bottle);
372
373 std::map<std::string /*sensor id*/, FtInfo> expected = {{"fakeId", {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 2, 3, 4, 5, 6}},
374 {"fakeId1", {10, 100, eoas_ft_mode_calibrated, eobrd_strain, 2, 13, 7, 8, 9, 10, 11}}};
375
376 EXPECT_FALSE(ret);
377}
378
379TEST(ServiceParserMultipleFT, check_checkCanMonitor_positive_001)
380{
381 yarp::os::Bottle bottle;
382 bottle.fromString("(CANMONITOR (checkPeriod 101) (ratePeriod 200) (reportMode ALL) )");
383
384 ServiceParserMultipleFt_mock serviceParser;
385
386 bool ret = serviceParser.checkCanMonitor(bottle);
387
388 EXPECT_TRUE(ret);
389
390 eObrd_canmonitor_cfg_t expected = {101, eobrd_canmonitor_reportmode_ALL, 200};
391 EXPECT_EQ(expected, serviceParser.canMonitor_);
392}
393
394TEST(ServiceParserMultipleFT, check_checkCanMonitor_negative_001)
395{
396 yarp::os::Bottle bottle;
397 bottle.fromString("(CANMONITOR (checkPeriod 101) (ratePeriod 200) (reportMode xxx) )");
398
399 ServiceParserMultipleFt_mock serviceParser;
400
401 bool ret = serviceParser.checkCanMonitor(bottle);
402
403 EXPECT_FALSE(ret);
404}
405
406TEST(ServiceParserMultipleFT, check_checkCanMonitor_negative_002)
407{
408 yarp::os::Bottle bottle;
409 bottle.fromString("(CANMONITOR (checkPeriod 300) (ratePeriod 200) (reportMode ALL) )");
410
411 ServiceParserMultipleFt_mock serviceParser;
412
413 bool ret = serviceParser.checkCanMonitor(bottle);
414
415 EXPECT_FALSE(ret);
416}
417
418TEST(ServiceParserMultipleFT, check_checkCanMonitor_negative_003)
419{
420 yarp::os::Bottle bottle;
421 bottle.fromString("(CANMONITOR (checkPeriod 200) (ratePeriod 200000) (reportMode ALL) )");
422
423 ServiceParserMultipleFt_mock serviceParser;
424
425 bool ret = serviceParser.checkCanMonitor(bottle);
426
427 EXPECT_FALSE(ret);
428}
429
430TEST(ServiceParserMultipleFT, toEomn_positive_001)
431{
432 FtInfo info = {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 1, 13, 4, 5, 1, 2, 3};
433
434 eOas_ft_sensordescriptor_t out;
435 bool res = info.toEomn(out);
436
437 eOas_ft_sensordescriptor_t expected = {{eobrd_strain2, {1, 2, 3}, {4, 5}}, {0, 13, eobrd_caninsideindex_none}, 0};
438
439 EXPECT_TRUE(res);
440 EXPECT_EQ(expected, out);
441}
442
443TEST(ServiceParserMultipleFT, toEomn_positive_002)
444{
445 FtInfo info = {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 2, 13, 4, 5, 1, 2, 3};
446
447 eOas_ft_sensordescriptor_t out;
448 bool res = info.toEomn(out);
449
450 eOas_ft_sensordescriptor_t expected = {{eobrd_strain2, {1, 2, 3}, {4, 5}}, {1, 13, eobrd_caninsideindex_none}, 0};
451
452 EXPECT_TRUE(res);
453 EXPECT_EQ(expected, out);
454}
455
456TEST(ServiceParserMultipleFT, toEomn_negative_001)
457{
458 FtInfo info = {10, 100, eoas_ft_mode_calibrated, eobrd_strain2, 3, 13, 4, 5, 1, 2, 3};
459
460 eOas_ft_sensordescriptor_t out;
461 bool res = info.toEomn(out);
462
463 EXPECT_FALSE(res);
464}
465
466TEST(ServiceParserMultipleFT, checkBoardType_positive_001)
467{
468 ServiceParserMultipleFt_mock serviceParser;
469
470 eObrd_type_t expected = eobrd_strain2;
471
472 EXPECT_EQ(expected, serviceParser.checkBoardType("strain2"));
473}
474
475TEST(ServiceParserMultipleFT, checkBoardType_positive_002)
476{
477 ServiceParserMultipleFt_mock serviceParser;
478
479 eObrd_type_t expected = eobrd_strain;
480
481 EXPECT_EQ(expected, serviceParser.checkBoardType("strain"));
482}
483
484TEST(ServiceParserMultipleFT, checkBoardType_positive_003)
485{
486 ServiceParserMultipleFt_mock serviceParser;
487
488 eObrd_type_t expected = eobrd_strain2;
489
490 EXPECT_EQ(expected, serviceParser.checkBoardType("eobrd_strain2"));
491}
492
493TEST(ServiceParserMultipleFT, checkBoardType_positive_004)
494{
495 ServiceParserMultipleFt_mock serviceParser;
496
497 eObrd_type_t expected = eobrd_strain;
498
499 EXPECT_EQ(expected, serviceParser.checkBoardType("eobrd_strain"));
500}
501
502TEST(ServiceParserMultipleFT, checkBoardType_negative_001)
503{
504 ServiceParserMultipleFt_mock serviceParser;
505
506 eObrd_type_t expected = eobrd_unknown;
507
508 EXPECT_EQ(expected, serviceParser.checkBoardType("amcbldc"));
509}
510
511TEST(ServiceParserMultipleFT, checkBoardType_negative_002)
512{
513 ServiceParserMultipleFt_mock serviceParser;
514
515 eObrd_type_t expected = eobrd_unknown;
516
517 EXPECT_EQ(expected, serviceParser.checkBoardType(""));
518}
ServiceParserMultipleFt_mock
Definition testUtils.h:16
ServiceParserMultipleFt_mock::canMonitor_
eObrd_canmonitor_cfg_t canMonitor_
Definition serviceParserMultipleFt.h:50
ServiceParserMultipleFt_mock::checkBoardType
virtual eObrd_type_t checkBoardType(const std::string &boardType)
Definition serviceParserMultipleFt.cpp:493
ServiceParserMultipleFt_mock::checkCanMonitor
virtual bool checkCanMonitor(const Bottle &service)
Definition serviceParserMultipleFt.cpp:381
ServiceParserMultipleFt_mock::checkPropertyCanBoards
virtual bool checkPropertyCanBoards(const Bottle &bPropertiesCanBoards)
Definition serviceParserMultipleFt.cpp:18
ServiceParserMultipleFt_mock::checkSettings
virtual bool checkSettings(const Bottle &settings)
Definition serviceParserMultipleFt.cpp:272
ServiceParserMultipleFt_mock::checkPropertySensors
virtual bool checkPropertySensors(const Bottle &property)
Definition serviceParserMultipleFt.cpp:148
ServiceParserMultipleFt_mock::ftInfo_
std::map< std::string, FtInfo > ftInfo_
Definition serviceParserMultipleFt.h:49
out
out
Definition sine.m:8
TEST
TEST(ServiceParserMultipleFT, check_settings_positive_001)
Definition testServiceParserMultipleFT.cpp:25
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