77 lines
1.7 KiB
C++
77 lines
1.7 KiB
C++
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#include <gtest/gtest.h>
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#include <rs_driver/driver/decoder/basic_attr.hpp>
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#include <rs_driver/utility/dbg.hpp>
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using namespace robosense::lidar;
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TEST(TestParseTime, parseTimeYMD)
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{
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uint8_t ts1[] = {0x15, 0x0a, 0x01, 0x01, 0x02, 0x03, 0x01, 0x11, 0x02, 0x22};
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uint8_t ts2[10];
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ASSERT_EQ(parseTimeYMD((RSTimestampYMD*)ts1), 1633021323273546);
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createTimeYMD(1633021323273546, (RSTimestampYMD*)ts2);
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ASSERT_EQ(memcmp(ts2, ts1, 10), 0);
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}
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#if 0
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TEST(TestParseTime, parseTimeUTCWithNs)
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{
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RSTimestampUTC ts1 =
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{{0x01, 0x02, 0x03, 0x04, 0x05, 0x06}, {0x06, 0xA1, 0x1C, 0xF0}};
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RSTimestampUTC ts2;
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ASSERT_EQ(parseTimeUTCWithNs(&ts1), 0x010203040506 * 1000000 + 0x06A11CF0/1000);
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createTimeUTCWithNs(0x010203040506 * 1000000 + 0x06A11CF0/1000, &ts2);
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ASSERT_EQ(memcmp(&ts2, &ts1, sizeof(ts1)), 0);
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}
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#endif
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TEST(TestParseTime, parseTimeUTCWithUs)
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{
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RSTimestampUTC ts1 =
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{{0x01, 0x02, 0x03, 0x04, 0x05, 0x06}, {0x00, 0x02, 0x33, 0x44}};
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RSTimestampUTC ts2;
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ASSERT_EQ(parseTimeUTCWithUs(&ts1), 0x010203040506 * 1000000 + 0x00023344);
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createTimeUTCWithUs(0x010203040506 * 1000000 + 0x00023344, &ts2);
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ASSERT_EQ(memcmp(&ts2, &ts1, sizeof(ts1)), 0);
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}
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TEST(TestParseTime, getTimeHost)
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{
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getTimeHost();
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}
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TEST(TestParseTemp, parseTempInLe)
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{
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{
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uint8_t temp[] = {0x88, 0x11};
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ASSERT_EQ(parseTempInLe((RSTemperature*)&temp), 561);
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}
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{
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uint8_t temp[] = {0x88, 0x91};
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ASSERT_EQ(parseTempInLe((RSTemperature*)&temp), -561);
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}
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}
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TEST(TestParseTemp, parseTempInBe)
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{
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{
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uint8_t temp[] = {0x23, 0x10};
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ASSERT_EQ(parseTempInBe((RSTemperature*)&temp), 561);
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}
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{
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uint8_t temp[] = {0xA3, 0x10};
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ASSERT_EQ(parseTempInBe((RSTemperature*)&temp), -561);
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}
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}
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