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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| #include <gtest/gtest.h> | ||
| #include <Client.hpp> | ||
| #include <thread> | ||
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| #include "ClientAgentCan.hpp" | ||
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| TEST_P(ClientAgentCan, PingFromClientToAgent) | ||
| { | ||
| ASSERT_NO_FATAL_FAILURE(client_can_.ping_agent()); | ||
| } | ||
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| INSTANTIATE_TEST_CASE_P( | ||
| CanTransports, | ||
| ClientAgentCan, | ||
| ::testing::Values(MiddlewareKind::FASTDDS)); |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,98 @@ | ||
| #ifndef IN_TEST_CLIENTCAN_INT_HPP | ||
| #define IN_TEST_CLIENTCAN_INT_HPP | ||
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| #include <uxr/agent/transport/can/CanAgentLinux.hpp> | ||
| #include <ClientCan.hpp> | ||
| #include <fcntl.h> | ||
| #include <stdlib.h> | ||
| #include <sys/ioctl.h> | ||
| #include <net/if.h> | ||
|
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| class AgentCan | ||
| { | ||
| public: | ||
| const char * dev = "vcan0"; | ||
| const uint32_t can_id = 0x00000001; // TODO: test different can_id | ||
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| AgentCan(MiddlewareKind middleware) | ||
| : middleware_{} | ||
| { | ||
| switch (middleware) | ||
| { | ||
| case MiddlewareKind::FASTDDS: | ||
| middleware_ = eprosima::uxr::Middleware::Kind::FASTDDS; | ||
| break; | ||
| case MiddlewareKind::FASTRTPS: | ||
| middleware_ = eprosima::uxr::Middleware::Kind::FASTRTPS; | ||
| break; | ||
| case MiddlewareKind::CED: | ||
| middleware_ = eprosima::uxr::Middleware::Kind::CED; | ||
| break; | ||
| } | ||
| } | ||
|
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| ~AgentCan() | ||
| {} | ||
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| bool is_interface_up(const char * interface) | ||
| { | ||
| struct ifreq ifr; | ||
| int sock = socket(PF_CAN, SOCK_RAW, CAN_RAW); | ||
| memset(&ifr, 0, sizeof(ifr)); | ||
| strcpy(ifr.ifr_name, interface); | ||
| ioctl(sock, SIOCGIFFLAGS, &ifr); | ||
| close(sock); | ||
| return !!(ifr.ifr_flags & IFF_UP); | ||
| } | ||
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| void start() | ||
| { | ||
| if (!is_interface_up(dev)) | ||
| { | ||
| ASSERT_TRUE(0 == system("ip link add dev vcan0 type vcan && ip link set vcan0 mtu 72 && ip link set dev vcan0 up")); | ||
| } | ||
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| agent_can_.reset(new eprosima::uxr::CanAgent(dev, can_id, middleware_)); | ||
| agent_can_->set_verbose_level(6); | ||
| ASSERT_TRUE(agent_can_->start()); | ||
| } | ||
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| void stop() | ||
| { | ||
| ASSERT_TRUE(agent_can_->stop()); | ||
| } | ||
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| private: | ||
| std::unique_ptr<eprosima::uxr::CanAgent> agent_can_; | ||
| eprosima::uxr::Middleware::Kind middleware_; | ||
| }; | ||
|
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| class ClientAgentCan : public ::testing::TestWithParam<MiddlewareKind> | ||
| { | ||
| public: | ||
| ClientAgentCan() | ||
| : client_can_(0.0f, 8) | ||
| , agent_(GetParam()) | ||
| {} | ||
|
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| ~ClientAgentCan() | ||
| {} | ||
|
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| void SetUp() override | ||
| { | ||
| agent_.start(); | ||
| ASSERT_NO_FATAL_FAILURE(client_can_.init_transport(agent_.dev, agent_.can_id + 1)); | ||
| } | ||
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| void TearDown() override | ||
| { | ||
| ASSERT_NO_FATAL_FAILURE(client_can_.close_transport()); | ||
| agent_.stop(); | ||
| } | ||
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| protected: | ||
| ClientCan client_can_; | ||
| AgentCan agent_; | ||
| }; | ||
|
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| #endif // ifndef IN_TEST_CLIENTCAN_INT_HPP |
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