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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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43 lines
1.6 KiB
C++
43 lines
1.6 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 "common.hpp"
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#include <uavcan/can_driver.hpp>
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TEST(CanFrame, FrameProperties)
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{
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EXPECT_TRUE(makeCanFrame(0, "", EXT).isExtended());
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EXPECT_FALSE(makeCanFrame(0, "", STD).isExtended());
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EXPECT_FALSE(makeCanFrame(0, "", EXT).isRemoteTransmissionRequest());
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EXPECT_FALSE(makeCanFrame(0, "", STD).isRemoteTransmissionRequest());
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uavcan::CanFrame frame = makeCanFrame(123, "", STD);
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frame.id |= uavcan::CanFrame::FlagRTR;
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EXPECT_TRUE(frame.isRemoteTransmissionRequest());
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}
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TEST(CanFrame, ToString)
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{
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uavcan::CanFrame frame = makeCanFrame(123, "\x01\x02\x03\x04""1234", EXT);
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EXPECT_EQ("0x0000007b 01 02 03 04 31 32 33 34 '....1234'", frame.toString());
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EXPECT_TRUE(frame.toString() == frame.toString(uavcan::CanFrame::StrAligned));
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frame = makeCanFrame(123, "z", EXT);
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EXPECT_EQ("0x0000007b 7a 'z'", frame.toString(uavcan::CanFrame::StrAligned));
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EXPECT_EQ("0x0000007b 7a 'z'", frame.toString());
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EXPECT_EQ(" 0x141 61 62 63 64 aa bb cc dd 'abcd....'",
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makeCanFrame(321, "abcd""\xaa\xbb\xcc\xdd", STD).toString(uavcan::CanFrame::StrAligned));
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EXPECT_EQ(" 0x100 ''",
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makeCanFrame(256, "", STD).toString(uavcan::CanFrame::StrAligned));
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EXPECT_EQ("0x100 ''",
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makeCanFrame(256, "", STD).toString());
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EXPECT_EQ("0x141 61 62 63 64 aa bb cc dd 'abcd....'",
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makeCanFrame(321, "abcd""\xaa\xbb\xcc\xdd", STD).toString());
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}
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