Program Listing for File imu_subscriber_test.cpp

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/*******************************************************************************
*   @file   imu_subscriber_test.cpp
*   @brief  Test acceleration
*   @author Vasile Holonec (Vasile.Holonec@analog.com)
*******************************************************************************/
// Copyright 2023 Analog Devices, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <gtest/gtest.h>

#include <chrono>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/imu.hpp>

#include "adi_imu/adis_device_factory.h"
#include "adi_imu/adis_register_map.h"
#include "adi_imu/iio_wrapper.h"

class ImuSubscriberTest : public ::testing::Test
{
public:
  static void SetUpTestCase() {}

  static void TearDownTestCase() { rclcpp::shutdown(); }
};

TEST(ImuSubscriberTest, test_imu_publisher)
{
  adi_imu::IIOWrapper iio_wrapper;

  auto node = rclcpp::Node::make_shared("test_imu_publisher");

  node->declare_parameter("iio_context_string", "local:");
  node->declare_parameter("imu_device_name", "unknown");

  std::string context =
    node->get_parameter("iio_context_string").get_parameter_value().get<std::string>();
  std::string device_name =
    node->get_parameter("imu_device_name").get_parameter_value().get<std::string>();
  auto device_descriptor = adi_imu::ADISDeviceFactory::make(device_name);

  iio_wrapper.setDeviceDescriptor(device_descriptor);
  iio_wrapper.createContext(context.c_str());

  std::string topic = "imu";

  double scale_accel = iio_wrapper.get_scale_accel();
  double scale_angvel = iio_wrapper.get_scale_anglvel();

  bool callbackExecuted = false;

  auto callback = [&scale_accel, &scale_angvel,
                   &callbackExecuted](sensor_msgs::msg::Imu msg) -> void {
    RCLCPP_INFO(
      rclcpp::get_logger("imu_subscriber_test"),
      "\nlinear acceleration x axis: %f \nlinear acceleration y axis: %f\nlinear acceleration z "
      "axis: %f\n"
      "angular velocity x axis: %f\nangular velocity y axis: %f\nangular velocity z axis: %f\n",
      msg.linear_acceleration.x, msg.linear_acceleration.y, msg.linear_acceleration.z,
      msg.angular_velocity.x, msg.angular_velocity.y, msg.angular_velocity.z);

    int32_t minint = -2147483648;
    int32_t maxint = 2147483647;

    double maxRangeAccel = maxint * scale_accel;
    double minRangeAccel = minint * scale_accel;

    double maxRangeAngvel = maxint * scale_angvel;
    double minRangeAngvel = minint * scale_angvel;

    ASSERT_TRUE(msg.linear_acceleration.x >= minRangeAccel);
    ASSERT_TRUE(msg.linear_acceleration.y >= minRangeAccel);
    ASSERT_TRUE(msg.linear_acceleration.z >= minRangeAccel);

    ASSERT_TRUE(msg.linear_acceleration.x <= maxRangeAccel);
    ASSERT_TRUE(msg.linear_acceleration.y <= maxRangeAccel);
    ASSERT_TRUE(msg.linear_acceleration.z <= maxRangeAccel);

    ASSERT_TRUE(msg.angular_velocity.x >= minRangeAngvel);
    ASSERT_TRUE(msg.angular_velocity.y >= minRangeAngvel);
    ASSERT_TRUE(msg.angular_velocity.z >= minRangeAngvel);

    ASSERT_TRUE(msg.angular_velocity.x <= maxRangeAngvel);
    ASSERT_TRUE(msg.angular_velocity.y <= maxRangeAngvel);
    ASSERT_TRUE(msg.angular_velocity.z <= maxRangeAngvel);
    callbackExecuted = true;
  };

  rclcpp::executors::SingleThreadedExecutor executor;
  executor.add_node(node);

  auto subscriber = node->create_subscription<sensor_msgs::msg::Imu>(topic, 10, callback);

  std::chrono::seconds sec(1);

  while (!callbackExecuted) executor.spin_once(sec);
}