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Merge branch 'dsdl_review'

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This commit is contained in:
Pavel Kirienko
2015-03-27 00:05:46 +03:00
parent 209547e8b6 0c8f0700af
commit 034123873e
96 changed files with 636 additions and 392 deletions
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libuavcan/test/data_type.cpp
+6
View File
@@ -105,6 +105,12 @@ TEST(DataTypeDescriptor, ToString)
desc = uavcan::DataTypeDescriptor(uavcan::DataTypeKindMessage, 123,
uavcan::DataTypeSignature(0xdeadbeef1234), "Bar");
ASSERT_EQ("Bar:123m:0000deadbeef1234", desc.toString());
// Max length - 80 chars
desc = uavcan::DataTypeDescriptor(uavcan::DataTypeKindMessage, 1023, uavcan::DataTypeSignature(0xdeadbeef12345678),
"sirius_cybernetics_corporation.marvin.model_a.LongDataTypeName123456789abcdefghi");
ASSERT_EQ("sirius_cybernetics_corporation.marvin.model_a.LongDataTypeName123456789abcdefghi:1023m:deadbeef12345678",
desc.toString());
}
libuavcan/test/dsdl_test/dsdl_test.cpp
+1 -1
View File
@@ -57,7 +57,7 @@ TEST(Dsdl, Signature)
ASSERT_EQ("root_ns_a.EmptyService", root_ns_a::EmptyService::getDataTypeFullName());
ASSERT_EQ(uavcan::DataTypeKindService, root_ns_a::EmptyService::DataTypeKind);
ASSERT_EQ(0x41a2582ee72be419, root_ns_a::NestedMessage::getDataTypeSignature().get()); // Computed manually
ASSERT_EQ(0x99604d7066e0d713, root_ns_a::NestedMessage::getDataTypeSignature().get()); // Computed manually
ASSERT_EQ("root_ns_a.NestedMessage", root_ns_a::NestedMessage::getDataTypeFullName());
ASSERT_EQ(uavcan::DataTypeKindMessage, root_ns_a::NestedMessage::DataTypeKind);
}
libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp
+1
View File
@@ -60,6 +60,7 @@ TEST(Dsdl, Streaming)
"status: \n"
" uptime_sec: 0\n"
" status_code: 0\n"
" vendor_specific_status_code: 0\n"
"software_version: \n"
" major: 0\n"
" minor: 0\n"
libuavcan/test/marshal/array.cpp
+18
View File
@@ -1278,3 +1278,21 @@ TEST(Array, FuzzyComparison)
uavcan::YamlStreamer<ArrayDynamic64>::stream(std::cout, array_d64, 0);
std::cout << std::endl;
}
TEST(Array, CaseConversion)
{
Array<IntegerSpec<8, SignednessUnsigned, CastModeTruncate>, ArrayModeDynamic, 30> str;
str.convertToLowerCaseASCII();
str.convertToUpperCaseASCII();
ASSERT_STREQ("", str.c_str());
str = "Hello World!";
ASSERT_STREQ("Hello World!", str.c_str());
str.convertToLowerCaseASCII();
ASSERT_STREQ("hello world!", str.c_str());
str.convertToUpperCaseASCII();
ASSERT_STREQ("HELLO WORLD!", str.c_str());
}
libuavcan/test/protocol/global_time_sync_slave.cpp
+8 -8
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@@ -37,9 +37,9 @@ TEST(GlobalTimeSyncSlave, Basic)
* The slave must only register the timestamp and adjust nothing
*/
uavcan::protocol::GlobalTimeSync gts;
gts.prev_utc_usec = 0;
gts.previous_transmission_timestamp_usec = 0;
gts_pub.broadcast(gts);
gts.prev_utc_usec = master_clock.utc;
gts.previous_transmission_timestamp_usec = master_clock.utc;
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_EQ(0, slave_clock.utc);
ASSERT_EQ(1000000, master_clock.utc);
@@ -54,7 +54,7 @@ TEST(GlobalTimeSyncSlave, Basic)
* Slave must adjust now
*/
gts_pub.broadcast(gts);
gts.prev_utc_usec = master_clock.utc;
gts.previous_transmission_timestamp_usec = master_clock.utc;
nodes.spinBoth(uavcan::MonotonicDuration());
ASSERT_EQ(1000000, slave_clock.utc);
ASSERT_EQ(1000000, master_clock.utc);
@@ -72,7 +72,7 @@ TEST(GlobalTimeSyncSlave, Basic)
* Will update
*/
gts_pub.broadcast(gts);
gts.prev_utc_usec = master_clock.utc;
gts.previous_transmission_timestamp_usec = master_clock.utc;
nodes.spinBoth(uavcan::MonotonicDuration());
ASSERT_EQ(2000000, slave_clock.utc);
ASSERT_EQ(2000000, master_clock.utc);
@@ -88,7 +88,7 @@ TEST(GlobalTimeSyncSlave, Basic)
* Will adjust
*/
gts_pub.broadcast(gts);
gts.prev_utc_usec = master_clock.utc;
gts.previous_transmission_timestamp_usec = master_clock.utc;
nodes.spinBoth(uavcan::MonotonicDuration());
ASSERT_EQ(3000000, slave_clock.utc);
ASSERT_EQ(3000000, master_clock.utc);
@@ -117,9 +117,9 @@ TEST(GlobalTimeSyncSlave, Basic)
/*
* Update step, no adjustment yet
*/
gts.prev_utc_usec = 0;
gts.previous_transmission_timestamp_usec = 0;
gts_pub2.broadcast(gts);
gts.prev_utc_usec = master2_clock.utc;
gts.previous_transmission_timestamp_usec = master2_clock.utc;
nodes.spinBoth(uavcan::MonotonicDuration());
ASSERT_EQ(4000000, slave_clock.utc);
ASSERT_EQ(100, master2_clock.utc);
@@ -142,7 +142,7 @@ TEST(GlobalTimeSyncSlave, Basic)
/*
* Another master will be ignored now
*/
gts.prev_utc_usec = 99999999;
gts.previous_transmission_timestamp_usec = 99999999;
// Update
gts_pub.broadcast(gts);
nodes.spinBoth(uavcan::MonotonicDuration());
libuavcan/test/protocol/node_status_monitor.cpp
+1 -1
View File
@@ -20,7 +20,7 @@ static void publishNodeStatus(CanDriverMock& can, uavcan::NodeID node_id, uavcan
// Manual message publication
ASSERT_LT(0, uavcan::protocol::NodeStatus::encode(msg, codec));
ASSERT_GE(7, buffer.getMaxWritePos());
ASSERT_GE(8, buffer.getMaxWritePos());
// DataTypeID data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
// uint_fast8_t frame_index, TransferID transfer_id, bool last_frame
libuavcan/test/protocol/node_status_provider.cpp
+21 -5
View File
@@ -48,15 +48,15 @@ TEST(NodeStatusProvider, Basic)
// Checking the publishing rate settings
ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MAX_PUBLICATION_PERIOD_MS),
nsp.getStatusPublishingPeriod());
nsp.getStatusPublicationPeriod());
nsp.setStatusPublishingPeriod(uavcan::MonotonicDuration());
nsp.setStatusPublicationPeriod(uavcan::MonotonicDuration());
ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MIN_PUBLICATION_PERIOD_MS),
nsp.getStatusPublishingPeriod());
nsp.getStatusPublicationPeriod());
nsp.setStatusPublishingPeriod(uavcan::MonotonicDuration::fromMSec(3600 * 1000 * 24));
nsp.setStatusPublicationPeriod(uavcan::MonotonicDuration::fromMSec(3600 * 1000 * 24));
ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MAX_PUBLICATION_PERIOD_MS),
nsp.getStatusPublishingPeriod());
nsp.getStatusPublicationPeriod());
/*
* Initial status publication
@@ -70,6 +70,22 @@ TEST(NodeStatusProvider, Basic)
ASSERT_TRUE(status_sub.collector.msg.get()); // Was published at startup
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_OK, status_sub.collector.msg->status_code);
ASSERT_EQ(0, status_sub.collector.msg->vendor_specific_status_code);
ASSERT_GE(1, status_sub.collector.msg->uptime_sec);
/*
* Altering the vendor-specific status code, forcePublish()-ing it and checking the result
*/
ASSERT_EQ(0, nsp.getVendorSpecificStatusCode());
nsp.setVendorSpecificStatusCode(1234);
ASSERT_EQ(1234, nsp.getVendorSpecificStatusCode());
ASSERT_LE(0, nsp.forcePublish());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_OK, status_sub.collector.msg->status_code);
ASSERT_EQ(1234, status_sub.collector.msg->vendor_specific_status_code);
ASSERT_GE(1, status_sub.collector.msg->uptime_sec);
/*
libuavcan/test/protocol/param_server.cpp
+20 -10
View File
@@ -12,9 +12,9 @@ struct ParamServerTestManager : public uavcan::IParamManager
typedef std::map<std::string, double> KeyValue;
KeyValue kv;
virtual void getParamNameByIndex(ParamIndex index, ParamName& out_name) const
virtual void getParamNameByIndex(Index index, Name& out_name) const
{
ParamIndex current_idx = 0;
Index current_idx = 0;
for (KeyValue::const_iterator it = kv.begin(); it != kv.end(); ++it, ++current_idx)
{
if (current_idx == index)
@@ -25,8 +25,9 @@ struct ParamServerTestManager : public uavcan::IParamManager
}
}
virtual void assignParamValue(const ParamName& name, const ParamValue& value)
virtual void assignParamValue(const Name& name, const Value& value)
{
assert(!name.empty());
std::cout << "ASSIGN [" << name.c_str() << "]\n" << value << "\n---" << std::endl;
KeyValue::iterator it = kv.find(name.c_str());
if (it != kv.end())
@@ -43,6 +44,10 @@ struct ParamServerTestManager : public uavcan::IParamManager
{
it->second = double(value.value_float[0]);
}
else if (!value.value_string.empty())
{
it->second = std::atof(value.value_string[0].value.c_str());
}
else
{
assert(0);
@@ -50,8 +55,9 @@ struct ParamServerTestManager : public uavcan::IParamManager
}
}
virtual void readParamValue(const ParamName& name, ParamValue& out_value) const
virtual void readParamValue(const Name& name, Value& out_value) const
{
assert(!name.empty());
KeyValue::const_iterator it = kv.find(name.c_str());
if (it != kv.end())
{
@@ -93,23 +99,23 @@ TEST(ParamServer, Basic)
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::param::GetSet> _reg1;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::param::SaveErase> _reg2;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::param::ExecuteOpcode> _reg2;
ASSERT_LE(0, server.start(&mgr));
ServiceClientWithCollector<uavcan::protocol::param::GetSet> get_set_cln(nodes.b);
ServiceClientWithCollector<uavcan::protocol::param::SaveErase> save_erase_cln(nodes.b);
ServiceClientWithCollector<uavcan::protocol::param::ExecuteOpcode> save_erase_cln(nodes.b);
/*
* Save/erase
*/
uavcan::protocol::param::SaveErase::Request save_erase_rq;
save_erase_rq.opcode = uavcan::protocol::param::SaveErase::Request::OPCODE_SAVE;
uavcan::protocol::param::ExecuteOpcode::Request save_erase_rq;
save_erase_rq.opcode = uavcan::protocol::param::ExecuteOpcode::Request::OPCODE_SAVE;
doCall(save_erase_cln, save_erase_rq, nodes);
ASSERT_TRUE(save_erase_cln.collector.result.get());
ASSERT_TRUE(save_erase_cln.collector.result->response.ok);
save_erase_rq.opcode = uavcan::protocol::param::SaveErase::Request::OPCODE_ERASE;
save_erase_rq.opcode = uavcan::protocol::param::ExecuteOpcode::Request::OPCODE_ERASE;
doCall(save_erase_cln, save_erase_rq, nodes);
ASSERT_TRUE(save_erase_cln.collector.result->response.ok);
@@ -151,7 +157,11 @@ TEST(ParamServer, Basic)
// Set by index
get_set_rq = uavcan::protocol::param::GetSet::Request();
get_set_rq.index = 0;
get_set_rq.value.value_int.push_back(424242);
{
uavcan::protocol::param::String str;
str.value = "424242";
get_set_rq.value.value_string.push_back(str);
}
doCall(get_set_cln, get_set_rq, nodes);
ASSERT_STREQ("foobar", get_set_cln.collector.result->response.name.c_str());
ASSERT_FLOAT_EQ(424242, get_set_cln.collector.result->response.value.value_float[0]);