y2019/jevois/spi_test.cc

#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