C++ Core: Add base class per sensor/actuator type

Adding base classes for UPM sensors and actuators.

Signed-off-by: Noel Eck <noel.eck@intel.com>

tests/unit/core/iServoActuator_tests.cxx

@@ -0,0 +1,104 @@
+#include "gtest/gtest.h"
+#include "iUpmObject.hpp"
+#include "iServoActuator.hpp"
+#include "external/json/json.hpp"
+#include <vector>
+#include <cstdlib>
+
+/* Use the string literal operator from nlohmann */
+using namespace nlohmann;
+
+/* Mock ServoTest class */
+class ES08A : public virtual upm::iServoActuator
+{
+public:
+    std::map<std::string, float> sinks;
+
+    ES08A()
+    {
+        sinks["axis0"] = 0.0;
+        sinks["axis1"] = 0.0;
+
+        /* Add a second command for testing */
+        AddCommand("axis1", "degrees");
+    }
+
+    void AngleForCommands(std::map<std::string, float> commands)
+    {
+        for(std::map<std::string, float>::const_iterator it = commands.begin(); it != commands.end(); ++it)
+        {
+#ifndef NDEBUG
+                std::cout << "Received set angle command for: " << it->first << " value: " << it->second << std::endl;
+#endif
+
+            std::map<std::string, float>::iterator sit = sinks.find(it->first);
+
+            if (sit == sinks.end())
+                throw std::invalid_argument("Servo axis: " + it->first + " not found");
+
+            sit->second = it->second;
+        }
+    }
+};
+
+/* Interfaces test fixture */
+class iServoActuator_unit : public ::testing::Test
+{
+protected:
+    iServoActuator_unit() {}
+    virtual ~iServoActuator_unit() {}
+    virtual void SetUp()
+    {
+        /* Initialize from servo.json */
+        sref.initFromJsonLibDesc("../../../src/servo/servo.json");
+    }
+    virtual void TearDown() {}
+
+    ES08A sref;
+};
+
+TEST_F(iServoActuator_unit, test_iServoActuator_basic)
+{
+    ASSERT_EQ(2, sref.Commands().size());
+}
+
+TEST_F(iServoActuator_unit, test_iServoActuator_serialize_command)
+{
+    upm::ActuatorCommand<float> acmd;
+    acmd.command = "axis0";
+    acmd.unit = "degrees";
+    acmd.value = 30.0;
+    json jcmd = acmd;
+
+    ASSERT_EQ("{\"command\":\"axis0\",\"unit\":\"degrees\",\"value\":30.0}", jcmd.dump());
+}
+
+TEST_F(iServoActuator_unit, test_iServoActuator_deserialize_command)
+{
+    json jcmd = "{\"command\":\"axis0\",\"unit\":\"degrees\",\"value\":30.0}"_json;
+    upm::ActuatorCommand<float> acmd = jcmd;
+}
+
+TEST_F(iServoActuator_unit, test_iServoActuator_run_command)
+{
+    sref.AngleFromJson("{\"command\":\"axis0\",\"unit\":\"radians\",\"value\":3.14159}");
+
+    ASSERT_FLOAT_EQ(3.14159, sref.sinks["axis0"]);
+}
+
+TEST_F(iServoActuator_unit, test_iServoActuator_run_command_invalid_command)
+{
+    ASSERT_THROW(sref.AngleFromJson("{\"command\":\"axis_doesn't_exist\",\"unit\":\"radians\",\"value\":3.14159}"),
+                 std::invalid_argument);
+}
+
+TEST_F(iServoActuator_unit, test_iServoActuator_run_command_fail_deserialization)
+{
+    ASSERT_THROW(sref.AngleFromJson("This is not }{ a valid JSON string"),
+                 std::invalid_argument);
+}
+
+TEST_F(iServoActuator_unit, test_iServoActuator_run_commands)
+{
+    sref.AngleFromJson("[{\"command\":\"axis0\",\"unit\":\"degrees\",\"value\":30.0},{\"command\":\"axis1\",\"unit\":\"radians\",\"value\":3.1}]");
+}