79 lines
3.0 KiB
C++
79 lines
3.0 KiB
C++
// 本文件测试上位机/主站侧封装。验证 HostClient 是否能构造文档要求的请求，
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// 并且只接受从站地址、寄存器数量、地址和 Modbus CRC 都符合预期的响应。
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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_status_response_parse() {
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const HostClient host;
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const ByteVector response =
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build_read_response(kDefaultSlaveId,
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RegisterVector{static_cast<std::uint16_t>(
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WorkMode::OnlineTracking),
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static_cast<std::uint16_t>(
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DeviceState::OnlineTrackingNormal)});
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const auto status = host.parse_status_response(response);
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test_support::require_true(status.has_value(),
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"host must parse valid mode/state response");
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test_support::require_true(status->mode == WorkMode::OnlineTracking,
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"host must parse work mode");
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test_support::require_true(status->state == DeviceState::OnlineTrackingNormal,
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"host must parse device state");
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}
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void test_status_response_rejects_invalid_state() {
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const HostClient host;
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const ByteVector response = build_read_response(kDefaultSlaveId,
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RegisterVector{0U, 99U});
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test_support::require_true(!host.parse_status_response(response).has_value(),
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"host must reject invalid state value");
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}
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void test_pose_response_parse() {
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const HostClient host;
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const Pose6D source{55U, -1.5F, 2.25F, 3.5F, 4.0F, 5.0F, 6.0F};
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const ByteVector response =
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build_read_response(kDefaultSlaveId, pose_to_register_vector(source));
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const auto pose = host.parse_current_pose_response(response);
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test_support::require_true(pose.has_value(), "host must parse current pose");
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test_support::require_equal(pose->timestamp_ms, 55U,
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"host must parse pose timestamp");
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test_support::require_float_close(pose->x, -1.5F, "host must parse pose x");
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test_support::require_float_close(pose->y, 2.25F, "host must parse pose y");
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test_support::require_float_close(pose->z, 3.5F, "host must parse pose z");
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}
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void test_write_ack_parse() {
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const HostClient host;
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const ByteVector ack =
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build_write_response(kDefaultSlaveId, kTargetPoseAddress, kPoseRegisterCount);
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test_support::require_true(
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host.parse_write_ack(ack, kTargetPoseAddress, kPoseRegisterCount),
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"host must accept matching write ack");
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test_support::require_true(
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!host.parse_write_ack(ack, kCorrectionAddress, kPoseRegisterCount),
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"host must reject ack for unexpected address");
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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_status_response_parse();
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test_status_response_rejects_invalid_state();
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test_pose_response_parse();
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test_write_ack_parse();
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std::cout << "host_tests passed\n";
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return 0;
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}
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