electrical_protocol: Add simulated test to CMakeLists, remove extrane…

…ous log statements, fix endianness of testing payload formats
uf-mil · Sep 27, 2024 · d6c8361 · d6c8361
1 parent 2c5700a
commit d6c8361
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Showing 4 changed files with 7 additions and 10 deletions.
diff --git a/mil_common/drivers/electrical_protocol/CMakeLists.txt b/mil_common/drivers/electrical_protocol/CMakeLists.txt
@@ -9,7 +9,5 @@ catkin_package()
 
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
-  # add_rostest(test/adder_device_sub9.test)
-  # add_rostest(test/echo_device_sub9.test)
-  # add_rostest(test/basic.test)
+  add_rostest(test/simulated.test)
 endif()
diff --git a/mil_common/drivers/electrical_protocol/electrical_protocol/driver.py b/mil_common/drivers/electrical_protocol/electrical_protocol/driver.py
@@ -167,7 +167,6 @@ def adjust_read_rate(self, rate: float) -> None:
         """
         self.timer.shutdown()
         self.rate = min(rate, 1_000)
-        rospy.logerr(f"Setting rate to {rate}")
         self.timer = rospy.Timer(rospy.Duration(1.0 / rate), self._process_buffer)  # type: ignore
 
     def scale_read_rate(self, scale: float) -> None:

diff --git a/mil_common/drivers/electrical_protocol/test/calculator_device.py b/mil_common/drivers/electrical_protocol/test/calculator_device.py
@@ -13,19 +13,19 @@
 
 
 @dataclass
-class RequestAddPacket(Packet, class_id=0x37, subclass_id=0x00, payload_format="ff"):
+class RequestAddPacket(Packet, class_id=0x37, subclass_id=0x00, payload_format="<ff"):
     number_one: float
     number_two: float
 
 
 @dataclass
-class RequestSubPacket(Packet, class_id=0x37, subclass_id=0x01, payload_format="ff"):
+class RequestSubPacket(Packet, class_id=0x37, subclass_id=0x01, payload_format="<ff"):
     start: float
     minus: float
 
 
 @dataclass
-class AnswerPacket(Packet, class_id=0x37, subclass_id=0x02, payload_format="f"):
+class AnswerPacket(Packet, class_id=0x37, subclass_id=0x02, payload_format="<f"):
     result: float
 
 

diff --git a/mil_common/drivers/electrical_protocol/test/test_simulated_basic.py b/mil_common/drivers/electrical_protocol/test/test_simulated_basic.py
@@ -13,19 +13,19 @@
 
 
 @dataclass
-class RequestAddPacket(Packet, class_id=0x37, subclass_id=0x00, payload_format="ff"):
+class RequestAddPacket(Packet, class_id=0x37, subclass_id=0x00, payload_format="<ff"):
     number_one: float
     number_two: float
 
 
 @dataclass
-class RequestSubPacket(Packet, class_id=0x37, subclass_id=0x01, payload_format="ff"):
+class RequestSubPacket(Packet, class_id=0x37, subclass_id=0x01, payload_format="<ff"):
     start: float
     minus: float
 
 
 @dataclass
-class AnswerPacket(Packet, class_id=0x37, subclass_id=0x02, payload_format="f"):
+class AnswerPacket(Packet, class_id=0x37, subclass_id=0x02, payload_format="<f"):
     result: float