DynamicNodeIDAllocationClient

2026-06-28 02:30:36 +08:00 · 2015-04-07 00:47:02 +03:00
parent 012765a796
commit 042aa60773
3 changed files with 386 additions and 0 deletions
@@ -0,0 +1,143 @@
+/*
+ * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/protocol/dynamic_node_id_allocation_client.hpp>
+#include "helpers.hpp"
+
+
+TEST(DynamicNodeIDAllocationClient, Basic)
+{
+    // Node A is Allocator, Node B is Allocatee
+    InterlinkedTestNodesWithSysClock nodes(uavcan::NodeID(10), uavcan::NodeID::Broadcast);
+
+    uavcan::DynamicNodeIDAllocationClient dnidac(nodes.b);
+
+    uavcan::GlobalDataTypeRegistry::instance().reset();
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::DynamicNodeIDAllocation> _reg1;
+
+    uavcan::protocol::HardwareVersion hwver;
+
+    ASSERT_LE(-uavcan::ErrInvalidParam, dnidac.start(hwver));  // Empty hardware version is not allowed
+
+    /*
+     * Initializing.
+     * Reduced signature was calculated as follows:
+     * >>> crc = pyuavcan.dsdl.signature.Signature()
+     * >>> crc.add(range(16))
+     * >>> crc.get_value()
+     * 4539764000456687298L
+     * >>> hex(crc.get_value())
+     * '0x3f007b4e4353bec2L'
+     */
+    const uavcan::uint64_t UniqueID64Bit = 0x3f007b4e4353bec2ULL;
+    const uavcan::uint64_t UniqueID57Bit = UniqueID64Bit & ((1ULL << 57) - 1U);
+    for (uavcan::uint8_t i = 0; i < hwver.unique_id.size(); i++)
+    {
+        hwver.unique_id[i] = i;
+    }
+
+    // More incorrect inputs
+    ASSERT_LE(-uavcan::ErrInvalidParam, dnidac.start(0));
+    ASSERT_LE(-uavcan::ErrInvalidParam, dnidac.start(hwver, uavcan::NodeID::Broadcast)); // Bad node ID
+    ASSERT_LE(-uavcan::ErrInvalidParam, dnidac.start(hwver, uavcan::NodeID()));          // Ditto
+
+    const uavcan::NodeID PreferredNodeID = 42;
+    ASSERT_LE(0, dnidac.start(hwver, PreferredNodeID));
+
+    // Making sure the signature reduction was performed correctly
+    ASSERT_EQ(UniqueID57Bit, dnidac.getShortUniqueNodeID());
+
+    ASSERT_FALSE(dnidac.getAllocatedNodeID().isValid());
+    ASSERT_FALSE(dnidac.getAllocatorNodeID().isValid());
+
+    /*
+     * Initializing subscriber
+     * Rogue transfers must be enabled
+     */
+    SubscriberWithCollector<uavcan::protocol::DynamicNodeIDAllocation> dynid_sub(nodes.a);
+    ASSERT_LE(0, dynid_sub.start());
+    dynid_sub.subscriber.allowRogueTransfers();
+
+    /*
+     * Monitoring requests at 1Hz
+     * First request will be sent immediately
+     */
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1100));
+    ASSERT_TRUE(dynid_sub.collector.msg.get());
+    ASSERT_EQ(UniqueID57Bit, dynid_sub.collector.msg->short_unique_id);
+    ASSERT_EQ(PreferredNodeID.get(), dynid_sub.collector.msg->node_id);
+    dynid_sub.collector.msg.reset();
+
+    // Rate validation
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(100));
+    ASSERT_FALSE(dynid_sub.collector.msg.get());
+
+    // Second - rate is 1 Hz
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(900));
+    ASSERT_TRUE(dynid_sub.collector.msg.get());
+    ASSERT_EQ(UniqueID57Bit, dynid_sub.collector.msg->short_unique_id);
+    ASSERT_EQ(PreferredNodeID.get(), dynid_sub.collector.msg->node_id);
+    dynid_sub.collector.msg.reset();
+
+    ASSERT_FALSE(dnidac.getAllocatedNodeID().isValid());
+    ASSERT_FALSE(dnidac.getAllocatorNodeID().isValid());
+
+    /*
+     * Sending a bunch of responses
+     * Note that response transfers are NOT rogue
+     */
+    uavcan::Publisher<uavcan::protocol::DynamicNodeIDAllocation> dynid_pub(nodes.a);
+    ASSERT_LE(0, dynid_pub.init());
+
+    uavcan::protocol::DynamicNodeIDAllocation msg;
+
+    msg.short_unique_id = 123;          // garbage
+    msg.node_id = 100;                  // oh whatever
+    ASSERT_LE(0, dynid_pub.broadcast(msg));
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(50));
+
+    msg.short_unique_id = 0;            // garbage
+    msg.node_id = 101;
+    ASSERT_LE(0, dynid_pub.broadcast(msg));
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(50));
+
+    msg.short_unique_id = UniqueID57Bit;  // correct ID
+    msg.node_id = 102;                    // THIS NODE ID WILL BE USED
+    ASSERT_LE(0, dynid_pub.broadcast(msg));
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(50));
+
+    msg.short_unique_id = UniqueID57Bit;  // repeating, will be ignored
+    msg.node_id = 103;
+    ASSERT_LE(0, dynid_pub.broadcast(msg));
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(50));
+
+    /*
+     * Validating the results
+     */
+    ASSERT_FALSE(dynid_sub.collector.msg.get());
+
+    ASSERT_TRUE(dnidac.getAllocatedNodeID().isUnicast());
+    ASSERT_TRUE(dnidac.getAllocatorNodeID().isUnicast());
+
+    ASSERT_EQ(102, dnidac.getAllocatedNodeID().get());
+    ASSERT_EQ(10,  dnidac.getAllocatorNodeID().get());
+
+    // Making sure requests have stopped
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1100));
+    ASSERT_FALSE(dynid_sub.collector.msg.get());
+}
+
+
+TEST(DynamicNodeIDAllocationClient, NonPassiveMode)
+{
+    InterlinkedTestNodesWithSysClock nodes;
+
+    uavcan::DynamicNodeIDAllocationClient dnidac(nodes.b);
+
+    uavcan::GlobalDataTypeRegistry::instance().reset();
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::DynamicNodeIDAllocation> _reg1;
+
+    ASSERT_LE(-uavcan::ErrLogic, dnidac.start(123456789));
+}