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234 changes: 112 additions & 122 deletions
234
c/test/auto_check_sbp_navigation_5.c → c/test/auto_check_sbp_acquisition_3.c
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,209 @@ | ||
| /* | ||
| * Copyright (C) 2015-2018 Swift Navigation Inc. | ||
| * Contact: https://support.swiftnav.com | ||
| * | ||
| * This source is subject to the license found in the file 'LICENSE' which must | ||
| * be be distributed together with this source. All other rights reserved. | ||
| * | ||
| * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, | ||
| * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED | ||
| * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. | ||
| */ | ||
|
|
||
| // This file was auto-generated from spec/tests/yaml/swiftnav/sbp/imu/test_MsgImuRaw.yaml by generate.py. Do not modify by hand! | ||
|
|
||
| #include <check.h> | ||
| #include <stdio.h> // for debugging | ||
| #include <stdlib.h> // for malloc | ||
| #include <sbp.h> | ||
| #include <imu.h> | ||
|
|
||
| static struct { | ||
| u32 n_callbacks_logged; | ||
| u16 sender_id; | ||
| u8 len; | ||
| u8 msg[SBP_MAX_PAYLOAD_LEN]; | ||
| void *context; | ||
| } last_msg; | ||
|
|
||
| static struct { | ||
| u32 n_callbacks_logged; | ||
| u16 sender_id; | ||
| u16 msg_type; | ||
| u8 msg_len; | ||
| u8 msg[SBP_MAX_PAYLOAD_LEN]; | ||
| u16 frame_len; | ||
| u8 frame[SBP_MAX_FRAME_LEN]; | ||
| void *context; | ||
| } last_frame; | ||
|
|
||
| static u32 dummy_wr = 0; | ||
| static u32 dummy_rd = 0; | ||
| static u8 dummy_buff[1024]; | ||
| static void* last_io_context; | ||
|
|
||
| static int DUMMY_MEMORY_FOR_CALLBACKS = 0xdeadbeef; | ||
| static int DUMMY_MEMORY_FOR_IO = 0xdead0000; | ||
|
|
||
| static void dummy_reset() | ||
| { | ||
| dummy_rd = dummy_wr = 0; | ||
| memset(dummy_buff, 0, sizeof(dummy_buff)); | ||
| } | ||
|
|
||
| static s32 dummy_write(u8 *buff, u32 n, void* context) | ||
| { | ||
| last_io_context = context; | ||
| u32 real_n = n;//(dummy_n > n) ? n : dummy_n; | ||
| memcpy(dummy_buff + dummy_wr, buff, real_n); | ||
| dummy_wr += real_n; | ||
| return real_n; | ||
| } | ||
|
|
||
| static s32 dummy_read(u8 *buff, u32 n, void* context) | ||
| { | ||
| last_io_context = context; | ||
| u32 real_n = n;//(dummy_n > n) ? n : dummy_n; | ||
| memcpy(buff, dummy_buff + dummy_rd, real_n); | ||
| dummy_rd += real_n; | ||
| return real_n; | ||
| } | ||
|
|
||
| static void logging_reset() | ||
| { | ||
| memset(&last_msg, 0, sizeof(last_msg)); | ||
| memset(&last_frame, 0, sizeof(last_frame)); | ||
| } | ||
|
|
||
| static void msg_callback(u16 sender_id, u8 len, u8 msg[], void* context) | ||
| { | ||
| last_msg.n_callbacks_logged++; | ||
| last_msg.sender_id = sender_id; | ||
| last_msg.len = len; | ||
| last_msg.context = context; | ||
| memcpy(last_msg.msg, msg, len); | ||
| } | ||
|
|
||
| static void frame_callback(u16 sender_id, u16 msg_type, u8 msg_len, u8 msg[], u16 frame_len, u8 frame[], void *context) | ||
| { | ||
| last_frame.n_callbacks_logged++; | ||
| last_frame.sender_id = sender_id; | ||
| last_frame.msg_type = msg_type; | ||
| last_frame.msg_len = msg_len; | ||
| memcpy(last_frame.msg, msg, msg_len); | ||
| last_frame.frame_len = frame_len; | ||
| memcpy(last_frame.frame, frame, frame_len); | ||
| last_frame.context = context; | ||
| } | ||
|
|
||
| START_TEST( test_auto_check_sbp_imu_7 ) | ||
| { | ||
| static sbp_msg_callbacks_node_t n; | ||
| static sbp_msg_callbacks_node_t n2; | ||
|
|
||
| // State of the SBP message parser. | ||
| // Must be statically allocated. | ||
| sbp_state_t sbp_state; | ||
|
|
||
| // | ||
| // Run tests: | ||
| // | ||
| // Test successful parsing of a message | ||
| { | ||
| // SBP parser state must be initialized before sbp_process is called. | ||
| // We re-initialize before every test so that callbacks for the same message types can be | ||
| // allocated multiple times across different tests. | ||
| sbp_state_init(&sbp_state); | ||
|
|
||
| sbp_state_set_io_context(&sbp_state, &DUMMY_MEMORY_FOR_IO); | ||
|
|
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| logging_reset(); | ||
|
|
||
| sbp_register_callback(&sbp_state, 0x900, &msg_callback, &DUMMY_MEMORY_FOR_CALLBACKS, &n); | ||
| sbp_register_frame_callback(&sbp_state, 0x900, &frame_callback, &DUMMY_MEMORY_FOR_CALLBACKS, &n2); | ||
|
|
||
| u8 encoded_frame[] = {85,0,9,52,18,17,26,1,0,192,206,96,0,223,255,44,16,60,0,208,254,238,255,70,135, }; | ||
|
|
||
| dummy_reset(); | ||
|
|
||
| u8 test_msg_storage[SBP_MAX_PAYLOAD_LEN]; | ||
| memset(test_msg_storage, 0, sizeof(test_msg_storage)); | ||
| u8 test_msg_len = 0; | ||
| msg_imu_raw_t* test_msg = ( msg_imu_raw_t* )test_msg_storage; | ||
| test_msg_len = sizeof(*test_msg); | ||
| test_msg->acc_x = 96; | ||
| test_msg->acc_y = -33; | ||
| test_msg->acc_z = 4140; | ||
| test_msg->gyr_x = 60; | ||
| test_msg->gyr_y = -304; | ||
| test_msg->gyr_z = -18; | ||
| test_msg->tow = 3221225754; | ||
| test_msg->tow_f = 206; | ||
| sbp_send_message(&sbp_state, 0x900, 4660, test_msg_len, test_msg_storage, &dummy_write); | ||
|
|
||
| ck_assert_msg(test_msg_len == sizeof(encoded_frame) - 8, | ||
| "Test message has not been generated correctly, or the encoded frame from the spec is badly defined. Check your test spec"); | ||
|
|
||
| ck_assert_msg(dummy_wr == sizeof(encoded_frame), | ||
| "not enough data was written to dummy_buff"); | ||
| ck_assert_msg(memcmp(dummy_buff, encoded_frame, sizeof(encoded_frame)) == 0, | ||
| "frame was not encoded properly"); | ||
|
|
||
| while (dummy_rd < dummy_wr) { | ||
| ck_assert_msg(sbp_process(&sbp_state, &dummy_read) >= SBP_OK, | ||
| "sbp_process threw an error!"); | ||
| } | ||
|
|
||
| ck_assert_msg(last_msg.n_callbacks_logged == 1, | ||
| "msg_callback: one callback should have been logged"); | ||
| ck_assert_msg(last_msg.sender_id == 4660, | ||
| "msg_callback: sender_id decoded incorrectly"); | ||
| ck_assert_msg(last_msg.len == sizeof(encoded_frame) - 8, | ||
| "msg_callback: len decoded incorrectly"); | ||
| ck_assert_msg(memcmp(last_msg.msg, encoded_frame + 6, sizeof(encoded_frame) - 8) | ||
| == 0, | ||
| "msg_callback: test data decoded incorrectly"); | ||
| ck_assert_msg(last_msg.context == &DUMMY_MEMORY_FOR_CALLBACKS, | ||
| "frame_callback: context pointer incorrectly passed"); | ||
|
|
||
| ck_assert_msg(last_frame.n_callbacks_logged == 1, | ||
| "frame_callback: one callback should have been logged"); | ||
| ck_assert_msg(last_frame.sender_id == 4660, | ||
| "frame_callback: sender_id decoded incorrectly"); | ||
| ck_assert_msg(last_frame.msg_type == 0x900, | ||
| "frame_callback: msg_type decoded incorrectly"); | ||
| ck_assert_msg(last_frame.msg_len == sizeof(encoded_frame) - 8, | ||
| "frame_callback: msg_len decoded incorrectly"); | ||
| ck_assert_msg(memcmp(last_frame.msg, encoded_frame + 6, sizeof(encoded_frame) - 8) == 0, | ||
| "frame_callback: test data decoded incorrectly"); | ||
| ck_assert_msg(last_frame.frame_len == sizeof(encoded_frame), | ||
| "frame_callback: frame_len decoded incorrectly"); | ||
| ck_assert_msg(memcmp(last_frame.frame, encoded_frame, sizeof(encoded_frame)) == 0, | ||
| "frame_callback: frame decoded incorrectly"); | ||
| ck_assert_msg(last_frame.context == &DUMMY_MEMORY_FOR_CALLBACKS, | ||
| "frame_callback: context pointer incorrectly passed"); | ||
|
|
||
| // Cast to expected message type - the +6 byte offset is where the payload starts | ||
| msg_imu_raw_t* check_msg = ( msg_imu_raw_t *)((void *)last_msg.msg); | ||
| // Run tests against fields | ||
| ck_assert_msg(check_msg != 0, "stub to prevent warnings if msg isn't used"); | ||
| ck_assert_msg(check_msg->acc_x == 96, "incorrect value for acc_x, expected 96, is %d", check_msg->acc_x); | ||
| ck_assert_msg(check_msg->acc_y == -33, "incorrect value for acc_y, expected -33, is %d", check_msg->acc_y); | ||
| ck_assert_msg(check_msg->acc_z == 4140, "incorrect value for acc_z, expected 4140, is %d", check_msg->acc_z); | ||
| ck_assert_msg(check_msg->gyr_x == 60, "incorrect value for gyr_x, expected 60, is %d", check_msg->gyr_x); | ||
| ck_assert_msg(check_msg->gyr_y == -304, "incorrect value for gyr_y, expected -304, is %d", check_msg->gyr_y); | ||
| ck_assert_msg(check_msg->gyr_z == -18, "incorrect value for gyr_z, expected -18, is %d", check_msg->gyr_z); | ||
| ck_assert_msg(check_msg->tow == 3221225754, "incorrect value for tow, expected 3221225754, is %d", check_msg->tow); | ||
| ck_assert_msg(check_msg->tow_f == 206, "incorrect value for tow_f, expected 206, is %d", check_msg->tow_f); | ||
| } | ||
| } | ||
| END_TEST | ||
|
|
||
| Suite* auto_check_sbp_imu_7_suite(void) | ||
| { | ||
| Suite *s = suite_create("SBP generated test suite: auto_check_sbp_imu_7"); | ||
| TCase *tc_acq = tcase_create("Automated_Suite_auto_check_sbp_imu_7"); | ||
| tcase_add_test(tc_acq, test_auto_check_sbp_imu_7); | ||
| suite_add_tcase(s, tc_acq); | ||
| return s; | ||
| } |
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