176 lines
5.3 KiB
C++
176 lines
5.3 KiB
C++
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#include <gtest/gtest.h>
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#include <rs_driver/driver/decoder/decoder_RSBP.hpp>
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#include <rs_driver/msg/point_cloud_msg.hpp>
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#include <rs_driver/utility/dbg.hpp>
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using namespace robosense::lidar;
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typedef PointXYZIRT PointT;
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typedef PointCloudT<PointT> PointCloud;
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static ErrCode errCode = ERRCODE_SUCCESS;
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static void errCallback(const Error& err)
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{
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errCode = err.error_code;
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}
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TEST(TestDecoderRSBP, getEchoMode)
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{
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ASSERT_TRUE(DecoderRSBP<PointCloud>::getEchoMode(0) == RSEchoMode::ECHO_DUAL);
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ASSERT_TRUE(DecoderRSBP<PointCloud>::getEchoMode(1) == RSEchoMode::ECHO_SINGLE);
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ASSERT_TRUE(DecoderRSBP<PointCloud>::getEchoMode(2) == RSEchoMode::ECHO_SINGLE);
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}
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TEST(TestDecoderRSBP, decodeDifopPkt)
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{
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// const_param
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RSDecoderParam param;
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DecoderRSBP<PointCloud> decoder(param);
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decoder.regCallback(errCallback, nullptr);
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ASSERT_EQ(decoder.blks_per_frame_, 1801);
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ASSERT_EQ(decoder.split_blks_per_frame_, 1801);
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// rpm = 600, dual return
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RSBPDifopPkt pkt;
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pkt.rpm = htons(600);
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pkt.return_mode = 0;
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decoder.decodeDifopPkt((uint8_t*)&pkt, sizeof(pkt));
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ASSERT_EQ(decoder.rps_, 10);
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ASSERT_EQ(decoder.echo_mode_, RSEchoMode::ECHO_DUAL);
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ASSERT_EQ(decoder.blks_per_frame_, 1801);
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ASSERT_EQ(decoder.split_blks_per_frame_, 3602);
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// rpm = 1200, single return
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pkt.rpm = htons(1200);
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pkt.return_mode = 1;
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decoder.decodeDifopPkt((uint8_t*)&pkt, sizeof(pkt));
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ASSERT_EQ(decoder.rps_, 20);
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ASSERT_EQ(decoder.echo_mode_, RSEchoMode::ECHO_SINGLE);
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ASSERT_EQ(decoder.blks_per_frame_, 900);
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ASSERT_EQ(decoder.split_blks_per_frame_, 900);
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}
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static void splitFrame(uint16_t height, double ts)
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{
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}
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TEST(TestDecoderRSBP, decodeMsopPkt)
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{
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uint8_t pkt[] =
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{
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//
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// header
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//
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0x55, 0xAA, 0x05, 0x0A, 0x5A, 0xA5, 0x50, 0xA0, // msop id
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // reserved_1
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0x15, 0x0a, 0x01, 0x01, 0x02, 0x03, 0x11, 0x22, 0x33, 0x44, // ts_YMD
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0x00, // lidar type
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // reserved_2
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0x18, 0x01, // temprature
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0x00, 0x00, // reserved_3
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//
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// block_01
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//
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0xFF, 0xEE, // block id
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0x00, 0x00, // azimuth
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0x03, 0xE8, // chan_00, distance
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0x01, // chan_00, intensity
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0x00, 0x00, // chan_01, distance
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0x00, // chan_01, intensity
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0x00, 0x00, // chan_02, distance
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0x00, // chan_02, intensity
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0x00, 0x00, // chan_03, distance
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0x00, // chan_03, intensity
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0x00, 0x00, // chan_04, distance
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0x00, // chan_04, intensity
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0x00, 0x00, // chan_05, distance
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0x00, // chan_05, intensity
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0x00, 0x00, // chan_06, distance
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0x00, // chan_06, intensity
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0x00, 0x00, // chan_07, distance
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0x00, // chan_07, intensity
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0x00, 0x00, // chan_08, distance
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0x00, // chan_08, intensity
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0x00, 0x00, // chan_09, distance
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0x00, // chan_09, intensity
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0x00, 0x00, // chan_10, distance
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0x00, // chan_10, intensity
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0x00, 0x00, // chan_11, distance
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0x00, // chan_11, intensity
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0x00, 0x00, // chan_12, distance
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0x00, // chan_12, intensity
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0x00, 0x00, // chan_13, distance
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0x00, // chan_13, intensity
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0x00, 0x00, // chan_14, distance
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0x00, // chan_14, intensity
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0x00, 0x00, // chan_15, distance
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0x00, // chan_15, intensity
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0x00, 0x00, // chan_16, distance
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0x00, // chan_16, intensity
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0x00, 0x00, // chan_17, distance
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0x00, // chan_17, intensity
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0x00, 0x00, // chan_18, distance
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0x00, // chan_18, intensity
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0x00, 0x00, // chan_19, distance
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0x00, // chan_19, intensity
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0x00, 0x00, // chan_20, distance
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0x00, // chan_20, intensity
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0x00, 0x00, // chan_21, distance
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0x00, // chan_21, intensity
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0x00, 0x00, // chan_22, distance
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0x00, // chan_22, intensity
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0x00, 0x00, // chan_23, distance
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0x00, // chan_23, intensity
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0x00, 0x00, // chan_24, distance
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0x00, // chan_24, intensity
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0x00, 0x00, // chan_25, distance
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0x00, // chan_25, intensity
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0x00, 0x00, // chan_26, distance
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0x00, // chan_26, intensity
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0x00, 0x00, // chan_27, distance
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0x00, // chan_27, intensity
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0x00, 0x00, // chan_28, distance
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0x00, // chan_28, intensity
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0x00, 0x00, // chan_29, distance
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0x00, // chan_29, intensity
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0x00, 0x00, // chan_30, distance
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0x00, // chan_30, intensity
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0x00, 0x00, // chan_31, distance
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0x00, // chan_31, intensity
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//
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// block_02
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//
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0x00, 0x00, // block id
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};
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// dense_points = false, use_lidar_clock = true
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RSDecoderParam param;
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DecoderRSBP<PointCloud> decoder(param);
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decoder.regCallback(errCallback, splitFrame);
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ASSERT_EQ(decoder.chan_angles_.user_chans_.size(), 32);
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decoder.chan_angles_.user_chans_[0] = 2;
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decoder.chan_angles_.user_chans_[1] = 1;
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decoder.param_.dense_points = false;
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decoder.param_.use_lidar_clock = true;
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decoder.point_cloud_ = std::make_shared<PointCloud>();
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decoder.decodeMsopPkt(pkt, sizeof(pkt));
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float temp = 0.0f;
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ASSERT_EQ(decoder.getTemperature(temp), true);
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ASSERT_EQ(temp, 2.1875);
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ASSERT_EQ(decoder.point_cloud_->points.size(), 32);
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PointT& point = decoder.point_cloud_->points[0];
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ASSERT_EQ(point.intensity, 1);
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ASSERT_NE(point.timestamp, 0);
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ASSERT_EQ(point.ring, 2);
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}
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