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https://github.com/intrepidcs/libicsneo.git
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LiveData: Initial implementation
Add support for live data subscription via Device::subscribeLiveData() and Device::unsubscribeLiveData(). The live data API can be used to subscribe to individual "signals", a full list of which can be found in LiveDataValueType.
This commit is contained in:
Kyle Johannes
committed by
Kyle Schwarz
Kyle Schwarz
parent
018f1fac8e
commit
8d704b1bbb
@@ -0,0 +1,188 @@
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#include "icsneo/icsneocpp.h"
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#include "icsneo/communication/encoder.h"
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#include "icsneo/communication/packet/livedatapacket.h"
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#include "icsneo/communication/message/livedatamessage.h"
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#include "icsneo/communication/packetizer.h"
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#include "icsneo/api/eventmanager.h"
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#include "gtest/gtest.h"
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#include <vector>
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#include <iostream>
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using namespace icsneo;
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class LiveDataEncoderDecoderTest : public ::testing::Test {
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protected:
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void SetUp() override {
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report = [](APIEvent::Type, APIEvent::Severity) {
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// Unless caught by the test, the packetizer should not throw errors
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EXPECT_TRUE(false);
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};
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packetizer.emplace([this](APIEvent::Type t, APIEvent::Severity s) {
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report(t, s);
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});
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packetEncoder.emplace([this](APIEvent::Type t, APIEvent::Severity s) {
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report(t, s);
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});
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packetDecoder.emplace([this](APIEvent::Type t, APIEvent::Severity s) {
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report(t, s);
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});
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msg = std::make_shared<icsneo::LiveDataCommandMessage>();
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arg = std::make_shared<LiveDataArgument>();
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msg->handle = 1;
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msg->updatePeriod = std::chrono::milliseconds(100);
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msg->expirationTime = std::chrono::milliseconds(0);
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arg->objectType = LiveDataObjectType::MISC;
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arg->objectIndex = 0;
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arg->signalIndex = 0;
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arg->valueType = LiveDataValueType::GPS_LATITUDE;
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msg->args.push_back(arg);
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}
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device_eventhandler_t report;
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std::optional<Encoder> packetEncoder;
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std::optional<Packetizer> packetizer;
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std::optional<Decoder> packetDecoder;
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const std::vector<uint8_t> testBytesSub =
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{
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0xaa, //start AA
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0x0B, //netid main51
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0x2F, 0x00, //size little end 16
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0xF0, //extended header command
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0x35, 0x00, //Live data subcommand little 16
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0x26, 0x00, //extended subcommand size, little 16
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0x01, 0x00, 0x00, 0x00, //live data version
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0x01, 0x00, 0x00, 0x00, //live data command (subscribe)
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0x01, 0x00, 0x00, 0x00, //live data handle
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0x01, 0x00, 0x00, 0x00, //numArgs
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0x64, 0x00, 0x00, 0x00, //freqMs (100ms)
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0x00, 0x00, 0x00, 0x00, //expireMs (zero, never expire)
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0x08, 0x00, //lObjectType eCoreMiniObjectTypeMisc
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0x00, 0x00, 0x00, 0x00, //lObjectIndex
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0x00, 0x00, 0x00, 0x00, //lSignalIndex
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0x02, 0x00, 0x00, 0x00, //enumCoreMiniMiscGPSLatitude
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0x41 //padding byte
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};
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const std::vector<uint8_t> testBytesUnsub =
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{
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0xaa, //start AA
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0x0B, //netid main51
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0x15, 0x00, //size little end 16
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0xF0, //extended header command
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0x35, 0x00, //Live data subcommand little 16
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0x0C, 0x00, //extended subcommand size, little 16
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0x01, 0x00, 0x00, 0x00, //LiveDataUtil::LiveDataVersion
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0x02, 0x00, 0x00, 0x00, //LiveDataCommand::UNSUBSCRIBE
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0x01, 0x00, 0x00, 0x00, //handle
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0x41 //padding byte
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};
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const std::vector<uint8_t> testBytesClear =
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{
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0xaa, //start AA
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0x0B, //netid main51
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0x15, 0x00, //size little end 16
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0xF0, //extended header command
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0x35, 0x00, //Live data subcommand little 16
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0x0C, 0x00, //extended subcommand size, little 16
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0x01, 0x00, 0x00, 0x00, //LiveDataUtil::LiveDataVersion
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0x04, 0x00, 0x00, 0x00, //LiveDataCommand::CLEAR_ALL
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0x00, 0x00, 0x00, 0x00, //handle
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0x41 //padding byte
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};
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const std::vector<uint8_t> testBytesResponse =
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{
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0xaa, //start AA
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0x0C, //netid RED
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0x2C, 0x00, //size little end 16
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0xF0, 0x00, //extended header command
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0x35, 0x00, //Live data subcommand little 16
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0x1C, 0x00, //extended subcommand size, little 16
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0x01, 0x00, 0x00, 0x00, //version
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0x03, 0x00, 0x00, 0x00, //cmd
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0x01, 0x00, 0x00, 0x00, //handle
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0x01, 0x00, 0x00, 0x00, //numArgs
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0x08, 0x00, //value 1 header (length)
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0x00, 0x00, //value 1 reserved
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, //value large
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0x08, 0x00, 0x00, 0x00, 0x00, 0x00,
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};
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const std::vector<uint8_t> testBytesStatus =
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{
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0xaa, //start AA
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0x0C, //netid RED
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0x24, 0x00, //size little end 16
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0xF0, 0x00, //extended header command
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0x35, 0x00, //Live data subcommand little 16
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0x14, 0x00, //extended subcommand size, little 16
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0x01, 0x00, 0x00, 0x00, //version
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0x00, 0x00, 0x00, 0x00, //cmd (status)
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0x01, 0x00, 0x00, 0x00, //handle
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0x01, 0x00, 0x00, 0x00, //requested command (subscribe)
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0x00, 0x00, 0x00, 0x00, //error
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0x00, 0x00, 0x00, 0x00, //padding
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0x00, 0x00,
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};
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std::shared_ptr<icsneo::LiveDataCommandMessage> msg;
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std::shared_ptr<icsneo::LiveDataArgument> arg;
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};
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TEST_F(LiveDataEncoderDecoderTest, EncodeSubscribeCommandTest) {
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std::vector<uint8_t> bytestream;
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msg->cmd = icsneo::LiveDataCommand::SUBSCRIBE;
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packetEncoder->encode(*packetizer, bytestream, msg);
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EXPECT_EQ(bytestream, testBytesSub);
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}
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TEST_F(LiveDataEncoderDecoderTest, EncodeUnsubscribeCommandTest) {
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std::vector<uint8_t> bytestream;
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auto unsubMsg = std::make_shared<icsneo::LiveDataMessage>();
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unsubMsg->cmd = icsneo::LiveDataCommand::UNSUBSCRIBE;
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unsubMsg->handle = msg->handle;
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packetEncoder->encode(*packetizer, bytestream, unsubMsg);
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EXPECT_EQ(bytestream, testBytesUnsub);
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}
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TEST_F(LiveDataEncoderDecoderTest, EncodeClearCommandTest) {
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std::vector<uint8_t> bytestream;
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auto unsubMsg = std::make_shared<icsneo::LiveDataMessage>();
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unsubMsg->cmd = icsneo::LiveDataCommand::CLEAR_ALL;
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packetEncoder->encode(*packetizer, bytestream, unsubMsg);
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EXPECT_EQ(bytestream, testBytesClear);
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}
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TEST_F(LiveDataEncoderDecoderTest, DecoderStatusTest) {
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std::shared_ptr<Message> result;
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if (packetizer->input(testBytesStatus)) {
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for (const auto& packet : packetizer->output()) {
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if (!packetDecoder->decode(result, packet))
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continue;
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}
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}
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EXPECT_TRUE(result != nullptr);
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auto response = std::dynamic_pointer_cast<LiveDataStatusMessage>(result);
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EXPECT_EQ(response->handle, static_cast<uint32_t>(1u));
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EXPECT_EQ(response->cmd, LiveDataCommand::STATUS);
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EXPECT_EQ(response->requestedCommand, LiveDataCommand::SUBSCRIBE);
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EXPECT_EQ(response->status, LiveDataStatus::SUCCESS);
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}
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TEST_F(LiveDataEncoderDecoderTest, DecoderResponseTest) {
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std::shared_ptr<Message> result;
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if (packetizer->input(testBytesResponse)) {
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for (const auto& packet : packetizer->output()) {
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if (!packetDecoder->decode(result, packet))
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continue;
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}
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}
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EXPECT_TRUE(result != nullptr);
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auto response = std::dynamic_pointer_cast<LiveDataValueMessage>(result);
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EXPECT_EQ(response->handle, static_cast<uint32_t>(1u));
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EXPECT_EQ(response->cmd, LiveDataCommand::RESPONSE);
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EXPECT_EQ(response->numArgs, static_cast<uint32_t>(1u));
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EXPECT_EQ(icsneo::LiveDataUtil::liveDataValueToDouble(*response->values[0]), 0.0);
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}
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