110 lines
3.7 KiB
C++
110 lines
3.7 KiB
C++
#include <doctest/doctest.h>
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#include "fgc/MtiProtocol.h"
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#include <cstring>
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#include <vector>
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using namespace fgc;
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namespace {
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void putBEFloat(std::vector<uint8_t>& v, float f) {
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uint32_t u;
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std::memcpy(&u, &f, 4);
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v.push_back(static_cast<uint8_t>(u >> 24));
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v.push_back(static_cast<uint8_t>(u >> 16));
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v.push_back(static_cast<uint8_t>(u >> 8));
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v.push_back(static_cast<uint8_t>(u));
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}
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// Sum of all bytes from BID through CS must be ≡ 0 (mod 256) for a valid frame.
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bool frameChecksumOk(const std::vector<uint8_t>& m) {
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unsigned s = 0;
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for (size_t i = 1; i < m.size(); ++i) s += m[i];
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return (s & 0xFF) == 0;
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}
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} // namespace
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TEST_CASE("config messages are well-formed with correct payloads") {
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auto cfg = msgGoToConfig();
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auto mode = msgSetOutputMode();
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auto set = msgSetOutputSettings();
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auto meas = msgGoToMeasurement();
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for (const auto& m : {cfg, mode, set, meas}) {
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CHECK(m[0] == kMtiPreamble);
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CHECK(m[1] == kMtiBid);
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CHECK(frameChecksumOk(m));
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}
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// GoToConfig / GoToMeasurement: no data.
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CHECK(cfg[2] == kMidGoToConfig);
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CHECK(cfg[3] == 0);
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CHECK(meas[2] == kMidGoToMeasurement);
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CHECK(meas[3] == 0);
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// SetOutputMode = 0x0007 (Temp|Calibrated|Orientation), 2-byte big-endian.
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CHECK(mode[2] == kMidSetOutputMode);
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CHECK(mode[3] == 2);
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CHECK(mode[4] == 0x00);
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CHECK(mode[5] == 0x07);
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// SetOutputSettings = 0x00000005 (Euler + sample counter), 4-byte big-endian.
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CHECK(set[2] == kMidSetOutputSettings);
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CHECK(set[3] == 4);
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CHECK(set[4] == 0x00);
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CHECK(set[5] == 0x00);
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CHECK(set[6] == 0x00);
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CHECK(set[7] == 0x05);
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}
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TEST_CASE("framer decodes a combined MTData frame into a full sample") {
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std::vector<uint8_t> d;
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putBEFloat(d, 24.5f); // temp
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putBEFloat(d, 0.10f); putBEFloat(d, -0.20f); putBEFloat(d, 9.81f); // acc
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putBEFloat(d, 0.01f); putBEFloat(d, 0.02f); putBEFloat(d, -0.03f); // gyr
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putBEFloat(d, 0.45f); putBEFloat(d, -0.88f); putBEFloat(d, 0.21f); // mag
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putBEFloat(d, -1.5f); putBEFloat(d, 3.25f); putBEFloat(d, 187.0f); // roll/pitch/yaw
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d.push_back(0x12); d.push_back(0x34); // sample counter
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REQUIRE(d.size() == kMTDataLen);
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auto frame = mtiMessage(kMidMTData, d);
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ImuSample got;
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bool fired = false;
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MtiFramer fr([&](uint8_t mid, const uint8_t* p, size_t n) {
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if (auto s = parseMTData(mid, p, n)) { got = *s; fired = true; }
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});
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// Leading noise must not break resync.
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const uint8_t noise[] = {0x00, 0xAB, 0xFA, 0x01};
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fr.feed(noise, sizeof(noise));
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fr.feed(frame.data(), frame.size());
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REQUIRE(fired);
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CHECK(got.valid);
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CHECK(got.temp_c == doctest::Approx(24.5f));
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CHECK(got.acc[2] == doctest::Approx(9.81f));
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CHECK(got.gyr[0] == doctest::Approx(0.01f));
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CHECK(got.mag[1] == doctest::Approx(-0.88f));
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CHECK(got.roll_deg == doctest::Approx(-1.5f));
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CHECK(got.pitch_deg == doctest::Approx(3.25f));
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CHECK(got.yaw_deg == doctest::Approx(187.0f));
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CHECK(got.sample_counter == 0x1234);
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}
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TEST_CASE("framer rejects a bad checksum and a wrong-length payload") {
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std::vector<uint8_t> d(kMTDataLen, 0);
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auto frame = mtiMessage(kMidMTData, d);
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SUBCASE("corrupt checksum") {
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auto bad = frame;
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bad.back() ^= 0xFF;
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bool fired = false;
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MtiFramer fr([&](uint8_t, const uint8_t*, size_t) { fired = true; });
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fr.feed(bad.data(), bad.size());
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CHECK_FALSE(fired);
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}
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SUBCASE("wrong-length MTData parses to nullopt") {
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std::vector<uint8_t> shortData(10, 0);
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CHECK_FALSE(parseMTData(kMidMTData, shortData.data(), shortData.size()).has_value());
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}
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}
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