Added a test for the hardware conversions

Author: biocubed

src/catheter_arduino_gui/CMakeLists.txt

@@ -176,6 +176,13 @@ target_link_libraries(
     pthread
 )
 
+catkin_add_gtest(test_adc_dac test/test_adc_dac.cpp WORKING_DIRECTORY ${PROJECT_SOURCE_DIR})
+target_link_libraries(
+    test_adc_dac
+    catheter_analog_digital_libs
+    ${GTEST_LIBRARIES}
+    pthread
+)
 
 endif()
 

src/catheter_arduino_gui/test/test_adc_dac.cpp

@@ -0,0 +1,54 @@
+/*
+  Copyright 2017 Russell Jackson
+
+  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 <iostream>
+#include <string>
+#include <vector>
+#include <gtest/gtest.h>
+#include "hardware/digital_analog_conversions.h"
+
+
+TEST(ard_hardware_conv, ADC_DAC)
+{
+  // for each potential value of current, validate that the ADC then back to DAC is valid.
+  for (uint16_t index(0); index < 4096; index++)
+  {
+    double amperageVal(adc2MilliAmp(index));
+    uint16_t index_(milliAmp2Dac(amperageVal));
+    ASSERT_EQ(index, index_);
+  }
+}
+
+TEST(ard_hardware_conv, DAC_ADC)
+{
+  // for each potential value of current, validate that the ADC then back to DAC is valid.
+  double di(0.000001);
+  for (double i(0.0); i < 300.0; i+=di)
+  {
+    uint16_t dacVal(milliAmp2Dac(i));
+    double i_(adc2MilliAmp(dacVal));
+    double e_(abs(i-i_));
+    ASSERT_LT(e_, 1/12.8);
+  }
+}
+
+
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}