status_test.cc

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#include <gtest/gtest.h>
 
#include <details/legacy/status.hh>
 
using namespace multisense::legacy;
 
crl::multisense::details::wire::StatusResponse create_valid_status()
{
    using namespace crl::multisense::details;
 
    wire::StatusResponse status;
 
    status.temperature0 = 1.0f;
    status.temperature1 = 2.0f;
    status.temperature2 = 3.0f;
    status.temperature3 = 4.0f;
 
    status.inputVolts = 24.0f;
    status.inputCurrent = 1.0f;
    status.fpgaPower = 2.0f;
 
    status.status |= (wire::StatusResponse::STATUS_GENERAL_OK |
                      wire::StatusResponse::STATUS_CAMERAS_OK |
                      wire::StatusResponse::STATUS_PIPELINE_OK);
 
    return status;
}
 
crl::multisense::details::wire::PtpStatusResponse create_valid_ptp_status()
{
    using namespace crl::multisense::details;
 
    wire::PtpStatusResponse status;
    for (uint8_t i = 0 ; i < 8 ; ++i)
    {
        status.gm_id[i] = i;
    }
 
    status.gm_present = 1;
    status.gm_offset = 10;
    status.path_delay = 22;
    status.steps_removed = 2;
 
    return status;
}
 
TEST(system_ok, not_ok)
{
    using namespace crl::multisense::details;
 
    wire::StatusResponse status;
 
    ASSERT_FALSE(system_ok(status));
}
 
 
TEST(system_ok, ok)
{
    using namespace crl::multisense::details;
 
    ASSERT_TRUE(system_ok(create_valid_status()));
}
 
TEST(convert, temperature)
{
    using namespace crl::multisense::details;
    using namespace multisense;
 
    const auto status = create_valid_status();
 
    const auto temp = convert<MultiSenseStatus::TemperatureStatus>(status);
 
    ASSERT_FLOAT_EQ(temp.fpga_temperature, status.temperature1);
    ASSERT_FLOAT_EQ(temp.left_imager_temperature, status.temperature2);
    ASSERT_FLOAT_EQ(temp.right_imager_temperature, status.temperature3);
    ASSERT_FLOAT_EQ(temp.power_supply_temperature, status.temperature0);
}
 
TEST(convert, power)
{
    using namespace crl::multisense::details;
    using namespace multisense;
 
    const auto status = create_valid_status();
 
    const auto power = convert<MultiSenseStatus::PowerStatus>(status);
 
    ASSERT_FLOAT_EQ(power.input_voltage, status.inputVolts);
    ASSERT_FLOAT_EQ(power.input_current, status.inputCurrent);
    ASSERT_FLOAT_EQ(power.fpga_power, status.fpgaPower);
}
 
TEST(convert, camera_status)
{
    using namespace crl::multisense::details;
    using namespace multisense;
 
    const auto status = create_valid_status();
 
    const auto camera = convert<MultiSenseStatus::CameraStatus>(status);
 
    ASSERT_TRUE(camera.cameras_ok);
    ASSERT_TRUE(camera.processing_pipeline_ok);
}
 
TEST(convert, ptp)
{
    using namespace crl::multisense::details;
    using namespace multisense;
 
    const auto status = create_valid_ptp_status();
 
    const auto ptp = convert(status);
 
    ASSERT_EQ(ptp.grandmaster_present, status.gm_present == 1);
 
    for (uint8_t i = 0 ; i < ptp.grandmaster_id.size() ; ++i)
    {
        ASSERT_EQ(status.gm_id[i], ptp.grandmaster_id[i]);
    }
 
    ASSERT_EQ(ptp.grandmaster_offset.count(), status.gm_offset);
    ASSERT_EQ(ptp.path_delay.count(), status.path_delay);
    ASSERT_EQ(ptp.steps_from_local_to_grandmaster, status.steps_removed);
}