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Linux SOcketCAN driver: strict ordering of received CAN frames; added debug header for tests

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This commit is contained in:
Pavel Kirienko
2014-04-01 02:29:57 +04:00
parent da6e032cf9
commit 0309d13eae
3 changed files with 27 additions and 22 deletions
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libuavcan_drivers/linux/test/test_socket.cpp
+11 -17
View File
@@ -6,12 +6,7 @@
#include <vector>
#include <cerrno>
#include <uavcan_linux/uavcan_linux.hpp>
#ifndef STRINGIZE
# define STRINGIZE2(x) #x
# define STRINGIZE(x) STRINGIZE2(x)
#endif
#define ENFORCE(x) if (!(x)) { throw std::runtime_error(__FILE__ ":" STRINGIZE(__LINE__) ": " #x); }
#include "debug.hpp"
static uavcan::CanFrame makeFrame(std::uint32_t id, const std::string& data)
{
@@ -56,7 +51,7 @@ static void testSocketRxTx(const std::string& iface_name)
*/
ENFORCE(1 == if2.send(makeFrame(321, "if2-1"), tsMonoOffsetMs(100), 0));
ENFORCE(1 == if2.send(makeFrame(654, "if2-2"), tsMonoOffsetMs(100), uavcan::CanIOFlagLoopback));
ENFORCE(1 == if2.send(makeFrame(1, "discard"), tsMonoOffsetMs(0), uavcan::CanIOFlagLoopback)); // Will timeout
ENFORCE(1 == if2.send(makeFrame(1, "discard"), tsMonoOffsetMs(-1), uavcan::CanIOFlagLoopback)); // Will timeout
if2.poll(true, true);
if2.poll(true, true);
ENFORCE(1 == if2.getErrorCount()); // One timed out
@@ -80,16 +75,16 @@ static void testSocketRxTx(const std::string& iface_name)
* Read first
*/
ENFORCE(1 == if1.receive(frame, ts_mono, ts_utc, flags));
ENFORCE(frame == makeFrame(321, "if2-1"));
ENFORCE(flags == 0);
ENFORCE(!ts_mono.isZero());
ENFORCE(!ts_utc.isZero());
ENFORCE(frame == makeFrame(456, "if1-2"));
ENFORCE(flags == uavcan::CanIOFlagLoopback);
ENFORCE((clock.getMonotonic() - ts_mono).getAbs().toMSec() < 10);
ENFORCE((clock.getUtc() - ts_utc).getAbs().toMSec() < 10);
ENFORCE(1 == if1.receive(frame, ts_mono, ts_utc, flags));
ENFORCE(frame == makeFrame(456, "if1-2"));
ENFORCE(flags == uavcan::CanIOFlagLoopback);
ENFORCE(frame == makeFrame(321, "if2-1"));
ENFORCE(flags == 0);
ENFORCE(!ts_mono.isZero());
ENFORCE(!ts_utc.isZero());
ENFORCE((clock.getMonotonic() - ts_mono).getAbs().toMSec() < 10);
ENFORCE((clock.getUtc() - ts_utc).getAbs().toMSec() < 10);
@@ -180,7 +175,6 @@ static void testSocketFilters(const std::string& iface_name)
/*
* Checking RX on 2
* Notice how the frames were reordered according to CAN bus arbitration rules
*/
uavcan::CanFrame frame;
uavcan::MonotonicTime ts_mono;
@@ -188,8 +182,7 @@ static void testSocketFilters(const std::string& iface_name)
uavcan::CanIOFlags flags = 0;
ENFORCE(1 == if2.receive(frame, ts_mono, ts_utc, flags));
ENFORCE(frame == makeFrame(0, "6"));
ENFORCE(flags == 0);
ENFORCE(frame == makeFrame(123, "1"));
ENFORCE(1 == if2.receive(frame, ts_mono, ts_utc, flags));
ENFORCE(frame == makeFrame(123 | EFF, "2"));
@@ -198,7 +191,8 @@ static void testSocketFilters(const std::string& iface_name)
ENFORCE(frame == makeFrame(456789 | EFF, "5"));
ENFORCE(1 == if2.receive(frame, ts_mono, ts_utc, flags));
ENFORCE(frame == makeFrame(123, "1"));
ENFORCE(frame == makeFrame(0, "6"));
ENFORCE(flags == 0);
ENFORCE(!if2.hasReadyRx());
}