mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-22 16:37:34 +08:00
Pavel Kirienko
126 lines
3.8 KiB
C++
126 lines
3.8 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include <gtest/gtest.h>
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#include <uavcan/helpers/ostream.hpp>
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#include <uavcan/Timestamp.hpp>
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#include <uavcan/mavlink/Message.hpp>
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#include <uavcan/protocol/ComputeAggregateTypeSignature.hpp>
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#include <uavcan/protocol/GetTransportStats.hpp>
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#include <uavcan/protocol/Panic.hpp>
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#include <uavcan/protocol/RestartNode.hpp>
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#include <uavcan/protocol/GlobalTimeSync.hpp>
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#include <uavcan/protocol/DataTypeKind.hpp>
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#include <uavcan/protocol/GlobalDiscoveryRequest.hpp>
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#include <uavcan/protocol/GetDataTypeInfo.hpp>
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#include <uavcan/protocol/NodeStatus.hpp>
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#include <uavcan/protocol/GetNodeInfo.hpp>
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#include <uavcan/protocol/debug/LogMessage.hpp>
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#include <uavcan/protocol/debug/StartHILSimulation.hpp>
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#include <uavcan/protocol/debug/KeyValue.hpp>
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#include <root_ns_a/Deep.hpp>
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TEST(Dsdl, Streaming)
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{
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std::ostringstream os;
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uavcan::mavlink::Message mavlink;
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os << mavlink << std::endl << "==========" << std::endl;
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mavlink.compid = 12;
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mavlink.seq = 42;
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mavlink.payload = "Here\tgoes\npayload";
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os << mavlink << std::endl << "==========" << std::endl;
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uavcan::protocol::GetNodeInfo::Response get_node_info_rsp;
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os << get_node_info_rsp << std::endl << "==========" << std::endl;
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root_ns_a::Deep ps;
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ps.a.resize(2);
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os << ps << std::endl << "==========" << std::endl;
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static const std::string Reference =
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"seq: 0\n"
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"sysid: 0\n"
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"compid: 0\n"
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"msgid: 0\n"
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"payload: \"\"\n"
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"==========\n"
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"seq: 42\n"
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"sysid: 0\n"
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"compid: 12\n"
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"msgid: 0\n"
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"payload: \"Here\\x09goes\\x0Apayload\"\n"
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"==========\n"
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"status: \n"
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" uptime_sec: 0\n"
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" status_code: 0\n"
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" vendor_specific_status_code: 0\n"
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"software_version: \n"
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" major: 0\n"
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" minor: 0\n"
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" optional_field_mask: 0\n"
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" vcs_commit: 0\n"
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" image_crc: 0\n"
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"hardware_version: \n"
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" major: 0\n"
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" minor: 0\n"
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" unique_id: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
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" certificate_of_authenticity: \"\"\n"
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"name: \"\"\n"
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"==========\n"
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"c: 0\n"
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"str: \"\"\n"
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"a: \n"
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" - \n"
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" scalar: 0\n"
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" vector: \n"
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" - \n"
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" vector: [0, 0, 0, 0]\n"
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" bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
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" - \n"
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" vector: [0, 0, 0, 0]\n"
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" bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
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" - \n"
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" vector: [0, 0, 0, 0]\n"
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" bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
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" - \n"
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" scalar: 0\n"
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" vector: \n"
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" - \n"
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" vector: [0, 0, 0, 0]\n"
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" bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
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" - \n"
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" vector: [0, 0, 0, 0]\n"
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" bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
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" - \n"
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" vector: [0, 0, 0, 0]\n"
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" bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
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"b: \n"
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" - \n"
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" vector: [0, 0, 0, 0]\n"
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" bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
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" - \n"
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" vector: [0, 0, 0, 0]\n"
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" bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
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" - \n"
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" vector: [0, 0, 0, 0]\n"
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" bools: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
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"==========\n";
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std::cout << os.str();
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ASSERT_EQ(Reference, os.str());
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}
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TEST(Dsdl, OStream)
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{
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root_ns_a::Deep ps;
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ps.a.resize(2);
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uavcan::OStream::instance() << ps << uavcan::OStream::endl;
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}
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