Add SPI serialization/deserialization for the cameras
Change-Id: Ide6b13de583a65907ff2b927a2a6fd1fc507a5b0
diff --git a/y2019/jevois/spi_test.cc b/y2019/jevois/spi_test.cc
new file mode 100644
index 0000000..de5158f
--- /dev/null
+++ b/y2019/jevois/spi_test.cc
@@ -0,0 +1,110 @@
+#include "y2019/jevois/spi.h"
+
+#include <stdint.h>
+
+#include "gtest/gtest.h"
+
+namespace frc971 {
+namespace jevois {
+namespace testing {
+
+// Tests packing and then unpacking an empty message.
+TEST(SpiToRoborioPackTest, Empty) {
+ TeensyToRoborio input_message;
+ const SpiTransfer transfer = SpiPackToRoborio(input_message);
+ const auto output_message = SpiUnpackToRoborio(transfer);
+ ASSERT_TRUE(output_message);
+ EXPECT_EQ(input_message, output_message.value());
+}
+
+// Tests that unpacking after the message has been modified results in a
+// checksum failure.
+TEST(SpiToRoborioPackTest, CorruptChecksum) {
+ TeensyToRoborio input_message;
+ {
+ SpiTransfer transfer = SpiPackToRoborio(input_message);
+ transfer[0]++;
+ ASSERT_FALSE(SpiUnpackToRoborio(transfer));
+ }
+ {
+ SpiTransfer transfer = SpiPackToRoborio(input_message);
+ transfer[0] ^= 0xFF;
+ ASSERT_FALSE(SpiUnpackToRoborio(transfer));
+ }
+ {
+ SpiTransfer transfer = SpiPackToRoborio(input_message);
+ transfer[transfer.size() - 1]++;
+ ASSERT_FALSE(SpiUnpackToRoborio(transfer));
+ }
+ input_message.frames.push_back({});
+ {
+ SpiTransfer transfer = SpiPackToRoborio(input_message);
+ transfer[0]++;
+ ASSERT_FALSE(SpiUnpackToRoborio(transfer));
+ }
+ {
+ SpiTransfer transfer = SpiPackToRoborio(input_message);
+ transfer[3]++;
+ ASSERT_FALSE(SpiUnpackToRoborio(transfer));
+ }
+ input_message.frames.back().targets.push_back({});
+ {
+ SpiTransfer transfer = SpiPackToRoborio(input_message);
+ transfer[3]++;
+ ASSERT_FALSE(SpiUnpackToRoborio(transfer));
+ }
+}
+
+// Tests packing and then unpacking a full message.
+TEST(SpiToRoborioPackTest, Full) {
+ TeensyToRoborio input_message;
+ input_message.frames.push_back({});
+ input_message.frames.back().age = camera_duration(9);
+ input_message.frames.push_back({});
+ input_message.frames.back().age = camera_duration(7);
+ input_message.frames.push_back({});
+ input_message.frames.back().age = camera_duration(1);
+
+ const SpiTransfer transfer = SpiPackToRoborio(input_message);
+ const auto output_message = SpiUnpackToRoborio(transfer);
+ ASSERT_TRUE(output_message);
+ EXPECT_EQ(input_message, output_message.value());
+}
+
+// Tests that packing and unpacking a target results in values close to before.
+TEST(SpiToRoborioPackTest, Target) {
+ TeensyToRoborio input_message;
+ input_message.frames.push_back({});
+ input_message.frames.back().targets.push_back({});
+ input_message.frames.back().targets.back().distance = 9;
+ input_message.frames.back().targets.back().height = 1;
+ input_message.frames.back().targets.back().heading = 0.5;
+ input_message.frames.back().targets.back().skew = -0.5;
+ input_message.frames.push_back({});
+ input_message.frames.back().targets.push_back({});
+ input_message.frames.back().targets.push_back({});
+ input_message.frames.push_back({});
+ input_message.frames.back().targets.push_back({});
+ input_message.frames.back().targets.push_back({});
+ input_message.frames.back().targets.push_back({});
+
+ const SpiTransfer transfer = SpiPackToRoborio(input_message);
+ const auto output_message = SpiUnpackToRoborio(transfer);
+ ASSERT_TRUE(output_message);
+ ASSERT_EQ(3u, output_message->frames.size());
+ ASSERT_EQ(1u, output_message->frames[0].targets.size());
+ ASSERT_EQ(2u, output_message->frames[1].targets.size());
+ ASSERT_EQ(3u, output_message->frames[2].targets.size());
+ EXPECT_NEAR(input_message.frames.back().targets.back().distance,
+ output_message->frames.back().targets.back().distance, 0.1);
+ EXPECT_NEAR(input_message.frames.back().targets.back().height,
+ output_message->frames.back().targets.back().height, 0.1);
+ EXPECT_NEAR(input_message.frames.back().targets.back().heading,
+ output_message->frames.back().targets.back().heading, 0.1);
+ EXPECT_NEAR(input_message.frames.back().targets.back().skew,
+ output_message->frames.back().targets.back().skew, 0.1);
+}
+
+} // namespace testing
+} // namespace jevois
+} // namespace frc971