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Swap Forward and Reverse in MachineDirection enumeration
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Fixed incorrect values interpreted and sent for SPNs 1861, 4309, 1864, and 4312.
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@ad3154
ad3154 committed Sep 26, 2024
1 parent c44ce96 commit a641a11
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Showing 2 changed files with 11 additions and 11 deletions.
4 changes: 2 additions & 2 deletions isobus/include/isobus/isobus/isobus_speed_distance_messages.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,8 +46,8 @@ namespace isobus
/// @brief Enumerates the values of the direction of travel for the machine.
enum class MachineDirection : std::uint8_t
{
Forward = 0,
Reverse = 1,
Reverse = 0,
Forward = 1,
Error = 2,
NotAvailable = 3
};
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18 changes: 9 additions & 9 deletions test/speed_distance_message_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -189,7 +189,7 @@ TEST(SPEED_MESSAGE_TESTS, SpeedMessages)
(static_cast<std::uint16_t>(testFrame.data[5]) << 24));
EXPECT_EQ(123456, decodedDistance_mm);
EXPECT_EQ(testFrame.data[6] & 0x3F, 15); // Reason == 15?
EXPECT_EQ(testFrame.data[7] & 0x03, 0); // Direction == forward?
EXPECT_EQ(testFrame.data[7] & 0x03, 1); // Direction == forward?
EXPECT_EQ((testFrame.data[7] >> 2) & 0x07, 2); // Source == navigation?
EXPECT_EQ((testFrame.data[7] >> 5) & 0x07, 3); // low limited?

Expand Down Expand Up @@ -240,7 +240,7 @@ TEST(SPEED_MESSAGE_TESTS, SpeedMessages)
(static_cast<std::uint16_t>(testFrame.data[5]) << 24));
EXPECT_EQ(5000, decodedDistance_mm);
EXPECT_EQ(3, testFrame.data[6]);
EXPECT_EQ(testFrame.data[7] & 0x03, 1); // Direction == reverse?
EXPECT_EQ(testFrame.data[7] & 0x03, 0); // Direction == reverse?
EXPECT_EQ((testFrame.data[7] >> 2) & 0x03, 1); // Key not off?
EXPECT_EQ((testFrame.data[7] >> 4) & 0x03, 1); // Implement operations permitted?
EXPECT_EQ((testFrame.data[7] >> 6) & 0x03, 0); // Not reversed?
Expand Down Expand Up @@ -296,11 +296,11 @@ TEST(SPEED_MESSAGE_TESTS, SpeedMessages)

interfaceUnderTest.machineSelectedSpeedCommandTransmitData.set_machine_selected_speed_setpoint_limit(12345);
interfaceUnderTest.machineSelectedSpeedCommandTransmitData.set_machine_speed_setpoint_command(56789);
interfaceUnderTest.machineSelectedSpeedCommandTransmitData.set_machine_direction_of_travel(SpeedMessagesInterface::MachineDirection::Reverse);
interfaceUnderTest.machineSelectedSpeedCommandTransmitData.set_machine_direction_of_travel(SpeedMessagesInterface::MachineDirection::Forward);

EXPECT_EQ(12345, interfaceUnderTest.machineSelectedSpeedCommandTransmitData.get_machine_selected_speed_setpoint_limit());
EXPECT_EQ(56789, interfaceUnderTest.machineSelectedSpeedCommandTransmitData.get_machine_speed_setpoint_command());
EXPECT_EQ(SpeedMessagesInterface::MachineDirection::Reverse, interfaceUnderTest.machineSelectedSpeedCommandTransmitData.get_machine_direction_command());
EXPECT_EQ(SpeedMessagesInterface::MachineDirection::Forward, interfaceUnderTest.machineSelectedSpeedCommandTransmitData.get_machine_direction_command());

ASSERT_FALSE(interfaceUnderTest.test_wrapper_send_ground_based_speed());
ASSERT_FALSE(interfaceUnderTest.test_wrapper_send_wheel_based_speed());
Expand Down Expand Up @@ -420,7 +420,7 @@ TEST(SPEED_MESSAGE_TESTS, ListenOnlyModeAndDecoding)
EXPECT_EQ(965742, mss->get_machine_distance());
EXPECT_EQ(4000, mss->get_machine_speed());
EXPECT_EQ(SpeedMessagesInterface::MachineSelectedSpeedData::LimitStatus::OperatorLimitedControlled, mss->get_limit_status());
EXPECT_EQ(SpeedMessagesInterface::MachineDirection::Reverse, mss->get_machine_direction_of_travel());
EXPECT_EQ(SpeedMessagesInterface::MachineDirection::Forward, mss->get_machine_direction_of_travel());
EXPECT_EQ(SpeedMessagesInterface::MachineSelectedSpeedData::SpeedSource::GroundBasedSpeed, mss->get_speed_source());
EXPECT_NE(0, mss->get_timestamp_ms());
}
Expand Down Expand Up @@ -460,7 +460,7 @@ TEST(SPEED_MESSAGE_TESTS, ListenOnlyModeAndDecoding)
EXPECT_EQ(SpeedMessagesInterface::WheelBasedMachineSpeedData::ImplementStartStopOperations::StartEnableImplementOperations, wheelSpeed->get_implement_start_stop_operations_state());
EXPECT_EQ(SpeedMessagesInterface::WheelBasedMachineSpeedData::KeySwitchState::NotOff, wheelSpeed->get_key_switch_state());
EXPECT_EQ(SpeedMessagesInterface::WheelBasedMachineSpeedData::OperatorDirectionReversed::Reversed, wheelSpeed->get_operator_direction_reversed_state());
EXPECT_EQ(SpeedMessagesInterface::MachineDirection::Reverse, wheelSpeed->get_machine_direction_of_travel());
EXPECT_EQ(SpeedMessagesInterface::MachineDirection::Forward, wheelSpeed->get_machine_direction_of_travel());
EXPECT_EQ(965742, wheelSpeed->get_machine_distance());
EXPECT_EQ(4000, wheelSpeed->get_machine_speed());
EXPECT_EQ(200, wheelSpeed->get_maximum_time_of_tractor_power());
Expand All @@ -480,7 +480,7 @@ TEST(SPEED_MESSAGE_TESTS, ListenOnlyModeAndDecoding)
testFrame.data[4] = static_cast<std::uint8_t>((encodedDistance >> 16) & 0xFF);
testFrame.data[5] = static_cast<std::uint8_t>((encodedDistance >> 24) & 0xFF);
testFrame.data[6] = 0xFF;
testFrame.data[7] = 0x01; // Reversed
testFrame.data[7] = 0x01; // Forward

CANNetworkManager::CANNetwork.process_receive_can_message_frame(testFrame);
CANNetworkManager::CANNetwork.update();
Expand All @@ -500,7 +500,7 @@ TEST(SPEED_MESSAGE_TESTS, ListenOnlyModeAndDecoding)

EXPECT_EQ(965742, groundSpeed->get_machine_distance());
EXPECT_EQ(4000, groundSpeed->get_machine_speed());
EXPECT_EQ(SpeedMessagesInterface::MachineDirection::Reverse, groundSpeed->get_machine_direction_of_travel());
EXPECT_EQ(SpeedMessagesInterface::MachineDirection::Forward, groundSpeed->get_machine_direction_of_travel());
EXPECT_NE(0, groundSpeed->get_timestamp_ms());
}

Expand Down Expand Up @@ -534,7 +534,7 @@ TEST(SPEED_MESSAGE_TESTS, ListenOnlyModeAndDecoding)
ASSERT_NE(nullptr, command);

EXPECT_NE(0, command->get_timestamp_ms());
EXPECT_EQ(SpeedMessagesInterface::MachineDirection::Forward, command->get_machine_direction_command());
EXPECT_EQ(SpeedMessagesInterface::MachineDirection::Reverse, command->get_machine_direction_command());
EXPECT_EQ(5000, command->get_machine_selected_speed_setpoint_limit());
EXPECT_EQ(4000, command->get_machine_speed_setpoint_command());
EXPECT_NE(nullptr, command->get_sender_control_function());
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