120 lines
4.8 KiB
C++
120 lines
4.8 KiB
C++
// 本文件测试下位机/从站侧服务。验证寄存器表读写、完整请求到响应处理、
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// 模式切换带来的状态副作用，以及急停后非法模式切换会被拒绝。
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#include "line_laser_modbus/device.hpp"
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#include "line_laser_modbus/host.hpp"
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#include "test_support.hpp"
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#include <iostream>
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using namespace line_laser_modbus;
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namespace {
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void test_read_status_request_round_trip() {
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DeviceServer device;
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HostClient host;
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const ByteVector response =
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device.process_request(host.make_read_status_request());
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const auto status = host.parse_status_response(response);
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test_support::require_true(status.has_value(), "device must answer status read");
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test_support::require_true(status->mode == WorkMode::StandbyReset,
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"initial device mode must be standby");
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test_support::require_true(status->state == DeviceState::StandbyReady,
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"initial device state must be ready");
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}
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void test_write_mode_changes_state() {
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DeviceServer device;
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HostClient host;
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const ByteVector ack =
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device.process_request(host.make_write_mode_request(WorkMode::OnlineTracking));
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test_support::require_true(
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host.parse_write_ack(ack, kModeCommandAddress, 1U),
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"device must ack valid online tracking mode write");
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test_support::require_true(device.bank().mode() == WorkMode::OnlineTracking,
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"device mode register must update");
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test_support::require_true(device.bank().state() == DeviceState::OnlineTrackingNormal,
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"device state must reflect online tracking");
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}
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void test_emergency_allows_only_standby_exit() {
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DeviceServer device;
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HostClient host;
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const ByteVector emergency_ack =
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device.process_request(host.make_write_mode_request(WorkMode::EmergencyStop));
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test_support::require_true(host.parse_write_ack(emergency_ack, kModeCommandAddress, 1U),
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"emergency mode write must be accepted");
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const ByteVector rejected =
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device.process_request(host.make_write_mode_request(WorkMode::OnlineTracking));
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test_support::require_true(rejected.size() == 5U,
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"illegal transition must return exception frame");
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test_support::require_equal(rejected[1], static_cast<std::uint8_t>(0x90),
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"write exception function code must be 0x90");
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test_support::require_true(device.bank().mode() == WorkMode::EmergencyStop,
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"illegal transition must not modify mode");
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const ByteVector accepted =
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device.process_request(host.make_write_mode_request(WorkMode::StandbyReset));
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test_support::require_true(host.parse_write_ack(accepted, kModeCommandAddress, 1U),
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"standby exit from emergency must be accepted");
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}
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void test_target_pose_write_and_current_pose_read() {
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DeviceServer device;
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HostClient host;
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const Pose6D target{2000U, 10.0F, 20.0F, 30.0F, 1.0F, 2.0F, 3.0F};
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const ByteVector write_ack =
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device.process_request(host.make_write_target_pose_request(target));
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test_support::require_true(
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host.parse_write_ack(write_ack, kTargetPoseAddress, kPoseRegisterCount),
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"device must ack target pose write");
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const auto stored_target = device.bank().target_pose();
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test_support::require_true(stored_target.has_value(),
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"device must store target pose registers");
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test_support::require_equal(stored_target->timestamp_ms, 2000U,
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"target timestamp must store");
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test_support::require_float_close(stored_target->z, 30.0F,
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"target z must store");
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device.bank().set_current_pose(target);
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const auto read_response =
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device.process_request(host.make_read_current_pose_request());
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const auto current = host.parse_current_pose_response(read_response);
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test_support::require_true(current.has_value(), "host must parse device pose read");
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test_support::require_float_close(current->x, 10.0F, "current x must read");
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}
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void test_out_of_range_read_returns_exception() {
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DeviceServer device;
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const ByteVector request =
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build_read_request(kDefaultSlaveId, static_cast<std::uint16_t>(0xD06C), 1U);
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const ByteVector response = device.process_request(request);
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test_support::require_true(response.size() == 5U,
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"out-of-range read must return exception frame");
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test_support::require_equal(response[1], static_cast<std::uint8_t>(0x83),
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"read exception function code must be 0x83");
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}
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} // 匿名命名空间
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int main() {
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test_read_status_request_round_trip();
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test_write_mode_changes_state();
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test_emergency_allows_only_standby_exit();
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test_target_pose_write_and_current_pose_read();
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test_out_of_range_read_returns_exception();
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std::cout << "device_tests passed\n";
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return 0;
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}
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