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checkDataFormat() and unit test updates #54

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merged 13 commits into from
Aug 6, 2024
Merged

checkDataFormat() and unit test updates #54

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8323674
Binaryデータ出力時は実機とテストの両方で動作確認完了、ASCIIデータには未対応、デバッグ用出力あり
YusukeKato Apr 10, 2024
82cb6db
実機とテストの両方でBinaryとASCIIの判定に成功、BinaryでもASCIIでもないデータには未対応
YusukeKato Apr 10, 2024
935846d
タイムアウト機能を追加&hasCompletedFormatCheck()と関係する変数を削除
YusukeKato Apr 11, 2024
566a9a9
不正なデータをチェックするようにテストを修正
YusukeKato Apr 11, 2024
d1831f5
readを成功させるためにwhileループにsleep処理を追加
YusukeKato Apr 12, 2024
9f85697
必要がなかったため、while文のsleep処理を削除
YusukeKato Apr 17, 2024
6d69c95
テスト用データの作成で重複している箇所を関数化
YusukeKato Aug 2, 2024
97fdb6b
RCLCPP_INFOをWARNに変更&不要なコメントを削除
YusukeKato Aug 2, 2024
b065ca6
const autoをできる限り使用
YusukeKato Aug 2, 2024
2368d8d
actions/checkoutのバージョンを3から4に更新
YusukeKato Aug 2, 2024
a23f080
読み取ったデータをある程度貯めてからデータ形式を判定するように変更
YusukeKato Aug 5, 2024
45c5a9c
貯めるデータを更新するように修正
YusukeKato Aug 5, 2024
81ddfe5
メンバ変数の名前を修正&256を定数化
YusukeKato Aug 6, 2024
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5 changes: 2 additions & 3 deletions include/rt_usb_9axisimu_driver/rt_usb_9axisimu_driver.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,6 @@ class RtUsb9axisimuRosDriver
ASCII,
INCORRECT
};
bool has_completed_format_check_;
DataFormat data_format_;
bool has_refreshed_imu_data_;

Expand All @@ -76,6 +75,7 @@ class RtUsb9axisimuRosDriver
rt_usb_9axisimu::ImuData<int16_t> extractBinarySensorData(unsigned char * imu_data_buf);
bool isBinarySensorData(unsigned char * imu_data_buf);
bool readBinaryData(void);
bool isAsciiSensorData(unsigned char * imu_data_buf, int data_size);
bool isValidAsciiSensorData(std::vector<std::string> imu_data_vector_buf);
bool readAsciiData(void);

Expand All @@ -90,8 +90,7 @@ class RtUsb9axisimuRosDriver

bool startCommunication();
void stopCommunication(void);
void checkDataFormat(void);
bool hasCompletedFormatCheck(void);
void checkDataFormat(const double timeout = 5.0);
bool hasAsciiDataFormat(void);
bool hasBinaryDataFormat(void);
bool hasRefreshedImuData(void);
Expand Down
84 changes: 58 additions & 26 deletions src/rt_usb_9axisimu_driver.cpp
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Expand Up @@ -31,11 +31,10 @@
* POSSIBILITY OF SUCH DAMAGE.
*/

#include <cstring>
#include <memory>
#include <string>
#include <utility>
#include <vector>
#include <chrono>

#include "rt_usb_9axisimu_driver/rt_usb_9axisimu_driver.hpp"

Expand Down Expand Up @@ -85,8 +84,12 @@ RtUsb9axisimuRosDriver::extractBinarySensorData(unsigned char * imu_data_buf)

bool RtUsb9axisimuRosDriver::isBinarySensorData(unsigned char * imu_data_buf)
{
if (imu_data_buf[consts.IMU_BIN_HEADER_R] == 'R' &&
imu_data_buf[consts.IMU_BIN_HEADER_T] == 'T')
if (imu_data_buf[consts.IMU_BIN_HEADER_FF0] == 0xff &&
imu_data_buf[consts.IMU_BIN_HEADER_FF1] == 0xff &&
imu_data_buf[consts.IMU_BIN_HEADER_R] == 'R' &&
imu_data_buf[consts.IMU_BIN_HEADER_T] == 'T' &&
imu_data_buf[consts.IMU_BIN_HEADER_ID0] == 0x39 &&
imu_data_buf[consts.IMU_BIN_HEADER_ID1] == 0x41)
{
return true;
}
Expand Down Expand Up @@ -137,6 +140,32 @@ bool RtUsb9axisimuRosDriver::readBinaryData(void)
return true;
}

bool RtUsb9axisimuRosDriver::isAsciiSensorData(unsigned char * imu_data_buf, int data_size)
{
// convert imu data to vector in ascii format
std::vector<std::string> data_vector_ascii;
std::string data_oneline_ascii;
for (int char_count = 0; char_count < data_size; char_count++) {
if (imu_data_buf[char_count] == ',' || imu_data_buf[char_count] == '\n') {
data_vector_ascii.push_back(data_oneline_ascii);
data_oneline_ascii.clear();
} else {
data_oneline_ascii += imu_data_buf[char_count];
}
if (imu_data_buf[char_count] == '\n') {
break;
}
}

// check data is in ascii format
if (data_vector_ascii.size() == consts.IMU_ASCII_DATA_SIZE &&
data_vector_ascii[consts.IMU_ASCII_TIMESTAMP].find(".") == std::string::npos &&
isValidAsciiSensorData(data_vector_ascii)) {
return true;
}
return false;
}

bool RtUsb9axisimuRosDriver::isValidAsciiSensorData(std::vector<std::string> str_vector)
{
for (int i = 1; i < consts.IMU_ASCII_DATA_SIZE; i++) {
Expand Down Expand Up @@ -207,15 +236,13 @@ bool RtUsb9axisimuRosDriver::readAsciiData(void)
RtUsb9axisimuRosDriver::RtUsb9axisimuRosDriver(std::string port = "")
{
serial_port_ = std::make_unique<rt_usb_9axisimu::SerialPort>(port.c_str());
has_completed_format_check_ = false;
data_format_ = DataFormat::NONE;
has_refreshed_imu_data_ = false;
}

RtUsb9axisimuRosDriver::RtUsb9axisimuRosDriver(std::unique_ptr<rt_usb_9axisimu::SerialPort> serial_port)
{
serial_port_ = std::move(serial_port);
has_completed_format_check_ = false;
data_format_ = DataFormat::NONE;
has_refreshed_imu_data_ = false;
}
Expand Down Expand Up @@ -252,33 +279,38 @@ bool RtUsb9axisimuRosDriver::startCommunication()
void RtUsb9axisimuRosDriver::stopCommunication(void)
{
serial_port_->closeSerialPort();
has_completed_format_check_ = false;
data_format_ = DataFormat::NONE;
has_refreshed_imu_data_ = false;
}

void RtUsb9axisimuRosDriver::checkDataFormat(void)
void RtUsb9axisimuRosDriver::checkDataFormat(const double timeout)
{
if (data_format_ == DataFormat::NONE) {
unsigned char data_buf[256];
int data_size_of_buf = serial_port_->readFromDevice(data_buf, consts.IMU_BIN_DATA_SIZE);
if (data_size_of_buf == consts.IMU_BIN_DATA_SIZE) {
if (isBinarySensorData(data_buf)) {
data_format_ = DataFormat::BINARY;
has_completed_format_check_ = true;
} else {
data_format_ = DataFormat::NOT_BINARY;
}
auto start_time = std::chrono::system_clock::now();
while (data_format_ == DataFormat::NONE) {
// time out (default 5.0s)
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// Measures for data formats that are neither Binary nor ASCII
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auto end_time = std::chrono::system_clock::now();
double time_elapsed = (double)std::chrono::duration_cast<std::chrono::seconds>(end_time - start_time).count();
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if (time_elapsed > timeout) {
return;
}
} else if (data_format_ == DataFormat::NOT_BINARY) {
data_format_ = DataFormat::ASCII;
has_completed_format_check_ = true;
}
}

unsigned char read_buffer[256];
int read_size = serial_port_->readFromDevice(read_buffer, sizeof(read_buffer));
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bool RtUsb9axisimuRosDriver::hasCompletedFormatCheck(void)
{
return has_completed_format_check_;
if(read_size <= 0) {
continue;
}

if (isBinarySensorData(read_buffer)) {
data_format_ = DataFormat::BINARY;
return;
}
else if (isAsciiSensorData(read_buffer, read_size)) {
data_format_ = DataFormat::ASCII;
return;
}
}
}

bool RtUsb9axisimuRosDriver::hasAsciiDataFormat(void)
Expand Down
23 changes: 9 additions & 14 deletions src/rt_usb_9axisimu_driver_component.cpp
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Expand Up @@ -93,21 +93,16 @@ CallbackReturn Driver::on_configure(const rclcpp_lifecycle::State &)
return CallbackReturn::FAILURE;
}

while (rclcpp::ok() && driver_->hasCompletedFormatCheck() == false) {
driver_->checkDataFormat();
}
driver_->checkDataFormat();

if (rclcpp::ok() && driver_->hasCompletedFormatCheck()) {
RCLCPP_INFO(this->get_logger(), "Format check has completed.");
if (driver_->hasAsciiDataFormat()) {
RCLCPP_INFO(this->get_logger(), "Data format is ascii.");
} else if (driver_->hasBinaryDataFormat()) {
RCLCPP_INFO(this->get_logger(), "Data format is binary.");
} else {
RCLCPP_INFO(this->get_logger(), "Data format is neither binary nor ascii.");
driver_->stopCommunication();
return CallbackReturn::FAILURE;
}
if (driver_->hasAsciiDataFormat()) {
RCLCPP_INFO(this->get_logger(), "Data format is ascii.");
} else if (driver_->hasBinaryDataFormat()) {
RCLCPP_INFO(this->get_logger(), "Data format is binary.");
} else {
RCLCPP_INFO(this->get_logger(), "Data format is neither binary nor ascii.");
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driver_->stopCommunication();
return CallbackReturn::FAILURE;
}

imu_data_raw_pub_ = create_publisher<sensor_msgs::msg::Imu>("imu/data_raw", 1);
Expand Down
89 changes: 69 additions & 20 deletions test/test_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,8 +31,7 @@
* POSSIBILITY OF SUCH DAMAGE.
*/

#include <array>
#include <string>
#include <vector>
#include <gtest/gtest.h>
#include "fakeit.hpp"
#include "rt_usb_9axisimu_driver/rt_usb_9axisimu_driver.hpp"
Expand Down Expand Up @@ -74,7 +73,6 @@ TEST(TestDriver, initialize_member_variables)
RtUsb9axisimuRosDriver driver(
std::unique_ptr<SerialPort>(&mock.get()));

EXPECT_FALSE(driver.hasCompletedFormatCheck());
EXPECT_FALSE(driver.hasBinaryDataFormat());
EXPECT_FALSE(driver.hasAsciiDataFormat());
EXPECT_FALSE(driver.hasRefreshedImuData());
Expand All @@ -85,12 +83,33 @@ TEST(TestDriver, checkDataFormat_Binary)
// Expect to check correctly when read data in binary format
auto mock = create_serial_port_mock();

// 1st: invalid binary data ('R' and 'T' positions are reversed)
// 2nd: correct binary data ('R' and 'T' are in the correct position)
When(Method(mock, readFromDevice)).Do([](
unsigned char* buf, unsigned int buf_size) {
rt_usb_9axisimu::Consts consts;
unsigned char dummy_bin_imu_data[consts.IMU_BIN_DATA_SIZE] = {0};
dummy_bin_imu_data[consts.IMU_BIN_HEADER_FF0] = 0xff;
dummy_bin_imu_data[consts.IMU_BIN_HEADER_FF1] = 0xff;
dummy_bin_imu_data[consts.IMU_BIN_HEADER_R] = 0x54; // T
dummy_bin_imu_data[consts.IMU_BIN_HEADER_T] = 0x52; // R
dummy_bin_imu_data[consts.IMU_BIN_HEADER_ID0] = 0x39;
dummy_bin_imu_data[consts.IMU_BIN_HEADER_ID1] = 0x41;
for(int i = 0; i < consts.IMU_BIN_DATA_SIZE; i++) {
buf[i] = dummy_bin_imu_data[i];
}
buf_size = consts.IMU_BIN_DATA_SIZE;
return buf_size;
}).Do([](
unsigned char* buf, unsigned int buf_size) {
rt_usb_9axisimu::Consts consts;
unsigned char dummy_bin_imu_data[consts.IMU_BIN_DATA_SIZE] = {0};
dummy_bin_imu_data[consts.IMU_BIN_HEADER_FF0] = 0xff;
dummy_bin_imu_data[consts.IMU_BIN_HEADER_FF1] = 0xff;
dummy_bin_imu_data[consts.IMU_BIN_HEADER_R] = 0x52; // R
dummy_bin_imu_data[consts.IMU_BIN_HEADER_T] = 0x54; // T
dummy_bin_imu_data[consts.IMU_BIN_HEADER_ID0] = 0x39;
dummy_bin_imu_data[consts.IMU_BIN_HEADER_ID1] = 0x41;
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for(int i = 0; i < consts.IMU_BIN_DATA_SIZE; i++) {
buf[i] = dummy_bin_imu_data[i];
}
Expand All @@ -103,7 +122,6 @@ TEST(TestDriver, checkDataFormat_Binary)

driver.checkDataFormat();

EXPECT_TRUE(driver.hasCompletedFormatCheck());
EXPECT_TRUE(driver.hasBinaryDataFormat());
EXPECT_FALSE(driver.hasAsciiDataFormat());
}
Expand All @@ -113,11 +131,13 @@ TEST(TestDriver, checkDataFormat_ASCII)
// Expect to check correctly when read data in ASCII format
auto mock = create_serial_port_mock();

// 1st: invalid ascii data (timestamp is double)
// 2nd: correct ascii data (timestamp is int)
When(Method(mock, readFromDevice)).Do([](
unsigned char* buf, unsigned int buf_size) {
rt_usb_9axisimu::Consts consts;
std::array<std::string, consts.IMU_ASCII_DATA_SIZE> dummy_ascii_imu_data;
dummy_ascii_imu_data[consts.IMU_ASCII_TIMESTAMP] = "0";
std::vector<const char*> dummy_ascii_imu_data(consts.IMU_ASCII_DATA_SIZE);
dummy_ascii_imu_data[consts.IMU_ASCII_TIMESTAMP] = "0.0";
dummy_ascii_imu_data[consts.IMU_ASCII_GYRO_X] = "0.000000";
dummy_ascii_imu_data[consts.IMU_ASCII_GYRO_Y] = "0.000000";
dummy_ascii_imu_data[consts.IMU_ASCII_GYRO_Z] = "0.000000";
Expand All @@ -128,26 +148,56 @@ TEST(TestDriver, checkDataFormat_ASCII)
dummy_ascii_imu_data[consts.IMU_ASCII_MAG_Y] = "0.000000";
dummy_ascii_imu_data[consts.IMU_ASCII_MAG_Z] = "0.000000";
dummy_ascii_imu_data[consts.IMU_ASCII_TEMP] = "0.000000";
std::string str = "";
std::string split_char = ",";
const char split_char = ',';
const char newline_char = '\n';
int char_count = 0;
for(int i = 0; i < consts.IMU_ASCII_DATA_SIZE; i++) {
str += dummy_ascii_imu_data[i];
if(i != consts.IMU_ASCII_DATA_SIZE - 1) str += split_char;
for(int j = 0; j < (int)strlen(dummy_ascii_imu_data.at(i)); j++) {
buf[char_count] = (unsigned char)dummy_ascii_imu_data.at(i)[j];
char_count++;
}
if(i != consts.IMU_ASCII_DATA_SIZE - 1) buf[char_count] = split_char;
else buf[char_count] = newline_char;
char_count++;
}
for(int i = 0; i < int(str.length()); i++) {
buf[i] = str[i];
buf_size = char_count;
return buf_size;
}).Do([](
unsigned char* buf, unsigned int buf_size) {
rt_usb_9axisimu::Consts consts;
std::vector<const char*> dummy_ascii_imu_data(consts.IMU_ASCII_DATA_SIZE);
dummy_ascii_imu_data[consts.IMU_ASCII_TIMESTAMP] = "0";
dummy_ascii_imu_data[consts.IMU_ASCII_GYRO_X] = "0.000000";
dummy_ascii_imu_data[consts.IMU_ASCII_GYRO_Y] = "0.000000";
dummy_ascii_imu_data[consts.IMU_ASCII_GYRO_Z] = "0.000000";
dummy_ascii_imu_data[consts.IMU_ASCII_ACC_X] = "0.000000";
dummy_ascii_imu_data[consts.IMU_ASCII_ACC_Y] = "0.000000";
dummy_ascii_imu_data[consts.IMU_ASCII_ACC_Z] = "0.000000";
dummy_ascii_imu_data[consts.IMU_ASCII_MAG_X] = "0.000000";
dummy_ascii_imu_data[consts.IMU_ASCII_MAG_Y] = "0.000000";
dummy_ascii_imu_data[consts.IMU_ASCII_MAG_Z] = "0.000000";
dummy_ascii_imu_data[consts.IMU_ASCII_TEMP] = "0.000000";
const char split_char = ',';
const char newline_char = '\n';
int char_count = 0;
for(int i = 0; i < consts.IMU_ASCII_DATA_SIZE; i++) {
for(int j = 0; j < (int)strlen(dummy_ascii_imu_data.at(i)); j++) {
buf[char_count] = (unsigned char)dummy_ascii_imu_data.at(i)[j];
char_count++;
}
if(i != consts.IMU_ASCII_DATA_SIZE - 1) buf[char_count] = split_char;
else buf[char_count] = newline_char;
char_count++;
}
buf_size = consts.IMU_BIN_DATA_SIZE;
buf_size = char_count;
return buf_size;
});

RtUsb9axisimuRosDriver driver(
std::unique_ptr<SerialPort>(&mock.get()));

driver.checkDataFormat();
driver.checkDataFormat();

EXPECT_TRUE(driver.hasCompletedFormatCheck());
EXPECT_TRUE(driver.hasAsciiDataFormat());
EXPECT_FALSE(driver.hasBinaryDataFormat());
}
Expand All @@ -157,15 +207,15 @@ TEST(TestDriver, checkDataFormat_not_Binary_or_ASCII)
// Expect to check correctly when read data in not Binary or ASCII format
auto mock = create_serial_port_mock();

When(Method(mock, readFromDevice)).Do([](
// always invalid data (not binary or ascii)
When(Method(mock, readFromDevice)).AlwaysDo([](
unsigned char* buf, unsigned int buf_size) {
rt_usb_9axisimu::Consts consts;
unsigned char dummy_data_not_binary_or_ascii[] =
"dummy_data_not_binary_or_ascii";
for(int i = 0; i < int(sizeof(dummy_data_not_binary_or_ascii)); i++) {
for(int i = 0; i < (int)sizeof(dummy_data_not_binary_or_ascii); i++) {
buf[i] = dummy_data_not_binary_or_ascii[i];
}
buf_size = consts.IMU_BIN_DATA_SIZE;
buf_size = strlen((char*)buf);
return buf_size;
});

Expand All @@ -174,7 +224,6 @@ TEST(TestDriver, checkDataFormat_not_Binary_or_ASCII)

driver.checkDataFormat();

EXPECT_FALSE(driver.hasCompletedFormatCheck());
EXPECT_FALSE(driver.hasBinaryDataFormat());
EXPECT_FALSE(driver.hasAsciiDataFormat());
}
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