54 lines
1.6 KiB
C++
54 lines
1.6 KiB
C++
#include <gtest/gtest.h>
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#include <rs_driver/common/rs_common.hpp>
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using namespace robosense::lidar;
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// Test RS_SWAP_INT16
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TEST(RS_SWAP_INT16Test, Basic) {
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// Test little endian to big endian conversion
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EXPECT_EQ(RS_SWAP_INT16(0x1234), 0x3412);
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EXPECT_EQ(RS_SWAP_INT16(0x0001), 0x0100);
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// Test big endian to little endian conversion
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EXPECT_EQ(RS_SWAP_INT16(0x3412), 0x1234);
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EXPECT_EQ(RS_SWAP_INT16(0x0100), 0x0001);
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// Test zero and max values
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EXPECT_EQ(RS_SWAP_INT16(0x0000), 0x0000);
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EXPECT_EQ(RS_SWAP_INT16(0xFFFF), -1);
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}
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// Test u8ArrayToInt32
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TEST(U8ArrayToInt32Test, ValidInput) {
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uint8_t data[] = {0x00, 0x00, 0x00, 0x7B}; // 123 in decimal
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int32_t result = u8ArrayToInt32(data, sizeof(data));
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EXPECT_EQ(result, 123);
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}
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TEST(U8ArrayToInt32Test, InvalidLength) {
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uint8_t data[] = {0x00, 0x00, 0x00}; // Not enough bytes for a 32-bit integer
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int32_t result = u8ArrayToInt32(data, sizeof(data));
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EXPECT_EQ(result, 0); // 0 is returned for invalid input
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}
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// Test convertUint32ToFloat
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TEST(ConvertUint32ToFloatTest, ValidInput) {
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uint32_t byteArray = 0x4048F5C3; // 3.14 in decimal
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float result = convertUint32ToFloat(byteArray);
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EXPECT_FLOAT_EQ(result, 3.14f); // using EXPECT_FLOAT_EQ for float comparison
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}
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TEST(ConvertUint32ToFloatTest, ZeroInput) {
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uint32_t byteArray = 0x00000000;
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float result = convertUint32ToFloat(byteArray);
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EXPECT_FLOAT_EQ(result, 0.0f);
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}
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TEST(ConvertUint32ToFloatTest, NegativeInput) {
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uint32_t byteArray = 0xC0000000; // 对应浮点数 -2.0
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float result = convertUint32ToFloat(byteArray);
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EXPECT_FLOAT_EQ(result, -2.0f);
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}
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