utilities_test.cc

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#include <gtest/gtest.h>
 
#include <details/legacy/utilities.hh>
 
using namespace multisense::legacy;
 
TEST(get_version, basic)
{
    using namespace crl::multisense::details;
 
    const wire::VersionType raw_version = 0x0520;
 
    const auto version = get_version(raw_version);
 
    ASSERT_EQ(version.major, 5);
    ASSERT_EQ(version.minor, 32);
}
 
TEST(version, less_than)
{
    using namespace crl::multisense::details;
 
    const wire::VersionType raw_version0 = 0x0520;
    const auto version0 = get_version(raw_version0);
 
    const wire::VersionType raw_version1 = 0x0521;
    const auto version1 = get_version(raw_version1);
 
    ASSERT_TRUE(version0 < version1);
}
 
TEST(get_disparities, basic)
{
    using namespace multisense;
 
    ASSERT_EQ(get_disparities(64), multisense::MultiSenseConfig::MaxDisparities::D64);
    ASSERT_EQ(get_disparities(128), multisense::MultiSenseConfig::MaxDisparities::D128);
    ASSERT_EQ(get_disparities(256), multisense::MultiSenseConfig::MaxDisparities::D256);
    EXPECT_THROW(get_disparities(1), std::exception);
}
 
TEST(convert_sources_from_wire, null)
{
    ASSERT_TRUE(convert_sources(0).empty());
}
 
TEST(convert_sources_from_wire, all)
{
    ASSERT_GT(convert_sources(all_sources).size(), 13);
}
 
TEST(convert_sources_from_api, null)
{
    ASSERT_EQ(convert_sources(std::vector<multisense::DataSource>{}), 0);
}
 
TEST(convert_sources_round_trip, all)
{
    ASSERT_EQ(convert_sources(convert_sources(all_sources)), all_sources);
}
 
TEST(get_status, status)
{
    using namespace crl::multisense::details::wire;
    using namespace multisense;
 
    ASSERT_EQ(Status::OK, get_status(Ack::Status_Ok));
    ASSERT_EQ(Status::TIMEOUT, get_status(Ack::Status_TimedOut));
    ASSERT_EQ(Status::INTERNAL_ERROR, get_status(Ack::Status_Error));
    ASSERT_EQ(Status::FAILED, get_status(Ack::Status_Failed));
    ASSERT_EQ(Status::UNSUPPORTED, get_status(Ack::Status_Unsupported));
    ASSERT_EQ(Status::UNKNOWN, get_status(Ack::Status_Unknown));
    ASSERT_EQ(Status::EXCEPTION, get_status(Ack::Status_Exception));
    ASSERT_EQ(Status::UNKNOWN, get_status(100));
}