110 lines
4.8 KiB
C++
110 lines
4.8 KiB
C++
// 本文件测试底层 Modbus RTU 协议实现：
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// CRC16 是否匹配文档示例帧、大端寄存器打包是否正确、TS+XYZABC 位姿转换
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// 是否可往返，以及请求/响应解析器是否严格校验。
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#include "line_laser_modbus/protocol.hpp"
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#include "test_support.hpp"
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#include <array>
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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_documented_read_frames() {
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test_support::require_bytes_equal(
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build_read_request(kDefaultSlaveId, kModeCommandAddress, 2U),
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ByteVector{0x08, 0x03, 0xD0, 0x00, 0x00, 0x02, 0xFC, 0x52},
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"read mode/state request must match protocol document");
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test_support::require_bytes_equal(
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build_read_request(kDefaultSlaveId, kCurrentPoseAddress, kPoseRegisterCount),
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ByteVector{0x08, 0x03, 0xD0, 0x0A, 0x00, 0x0E, 0xDC, 0x55},
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"read current pose request must match protocol document");
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}
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void test_documented_mode_write_frames() {
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const std::array<ByteVector, 6U> expected_frames{{
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{0x08, 0x10, 0xD0, 0x00, 0x00, 0x01, 0x02, 0x00, 0x00, 0x1D, 0xCD},
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{0x08, 0x10, 0xD0, 0x00, 0x00, 0x01, 0x02, 0x00, 0x01, 0xDC, 0x0D},
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{0x08, 0x10, 0xD0, 0x00, 0x00, 0x01, 0x02, 0x00, 0x02, 0x9C, 0x0C},
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{0x08, 0x10, 0xD0, 0x00, 0x00, 0x01, 0x02, 0x00, 0x03, 0x5D, 0xCC},
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{0x08, 0x10, 0xD0, 0x00, 0x00, 0x01, 0x02, 0x00, 0x04, 0x1C, 0x0E},
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{0x08, 0x10, 0xD0, 0x00, 0x00, 0x01, 0x02, 0x00, 0x05, 0xDD, 0xCE},
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}};
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for (std::size_t mode = 0; mode < expected_frames.size(); ++mode) {
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test_support::require_bytes_equal(
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build_write_request(kDefaultSlaveId, kModeCommandAddress,
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RegisterVector{static_cast<std::uint16_t>(mode)}),
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expected_frames[mode],
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"mode write request must match protocol document");
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}
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}
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void test_pose_register_round_trip() {
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const Pose6D source{1000U, 1.0F, 2.0F, 3.0F, 0.0F, 1.0F, 2.0F};
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const RegisterVector registers = pose_to_register_vector(source);
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test_support::require_equal(registers.size(), static_cast<std::size_t>(14U),
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"pose must occupy 14 registers");
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test_support::require_equal(registers[0], static_cast<std::uint16_t>(0x0000),
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"timestamp high word must be big-endian");
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test_support::require_equal(registers[1], static_cast<std::uint16_t>(0x03E8),
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"timestamp low word must be big-endian");
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test_support::require_equal(registers[2], static_cast<std::uint16_t>(0x3F80),
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"float 1.0 high word must be big-endian");
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test_support::require_equal(registers[3], static_cast<std::uint16_t>(0x0000),
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"float 1.0 low word must be big-endian");
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const auto decoded = pose_from_register_vector(registers);
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test_support::require_true(decoded.has_value(), "pose decode must succeed");
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test_support::require_equal(decoded->timestamp_ms, 1000U,
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"timestamp must round-trip");
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test_support::require_float_close(decoded->x, 1.0F, "x must round-trip");
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test_support::require_float_close(decoded->y, 2.0F, "y must round-trip");
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test_support::require_float_close(decoded->z, 3.0F, "z must round-trip");
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test_support::require_float_close(decoded->a, 0.0F, "a must round-trip");
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test_support::require_float_close(decoded->b, 1.0F, "b must round-trip");
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test_support::require_float_close(decoded->c, 2.0F, "c must round-trip");
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}
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void test_parser_rejects_bad_crc() {
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ByteVector frame = build_read_request(kDefaultSlaveId, kDeviceStateAddress, 1U);
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frame.back() ^= 0x01U;
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const auto parsed = parse_read_request(frame);
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test_support::require_true(!parsed.ok(), "read request parser must reject bad CRC");
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}
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void test_write_request_parser() {
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const ByteVector frame =
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build_write_request(kDefaultSlaveId, kCorrectionAddress,
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pose_to_register_vector(
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Pose6D{1000U, 1.0F, 2.0F, 3.0F, 0.0F, 1.0F, 2.0F}));
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const auto parsed = parse_write_request(frame);
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test_support::require_true(parsed.ok(), "write request parser must accept valid frame");
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test_support::require_equal(parsed.value->slave_id, kDefaultSlaveId,
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"write request slave id must parse");
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test_support::require_equal(parsed.value->start_address, kCorrectionAddress,
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"write request start address must parse");
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test_support::require_equal(parsed.value->registers.size(),
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static_cast<std::size_t>(kPoseRegisterCount),
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"write request register count must parse");
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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_documented_read_frames();
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test_documented_mode_write_frames();
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test_pose_register_round_trip();
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test_parser_rejects_bad_crc();
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test_write_request_parser();
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std::cout << "protocol_tests passed\n";
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return 0;
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}
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