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Added test for maximum transfer length

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This commit is contained in:
Pavel Kirienko 2014-02-17 15:13:05 +04:00
parent 1886f0a8a9
commit 06d74d3213
4 changed files with 31 additions and 2 deletions
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2
libuavcan/include/uavcan/internal/transport/transfer.hpp
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@ -12,6 +12,8 @@
namespace uavcan
{
enum { MAX_TRANSFER_PAYLOAD_LEN = 439 }; ///< According to the standard
enum TransferType
{
TRANSFER_TYPE_SERVICE_RESPONSE = 0,

2
libuavcan/test/transport/transfer.cpp
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@ -198,7 +198,7 @@ TEST(Transfer, FrameParsing)
can.data[0] = 41;
ASSERT_TRUE(frame.parse(can));
can.id = CanFrame::FLAG_EFF |
can.id = CanFrame::FLAG_EFF | // cppcheck-suppress duplicateExpression
(2 << 0) | (1 << 3) | (0 << 4) | (0 << 10) | (uavcan::TRANSFER_TYPE_MESSAGE_UNICAST << 17) | (456 << 19);
ASSERT_FALSE(frame.parse(can)); // Broadcast Src Node ID
}

27
libuavcan/test/transport/transfer_listener.cpp
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@ -265,3 +265,30 @@ TEST(TransferListener, Cleanup)
ASSERT_TRUE(subscriber.matchAndPop(tr_mft));
ASSERT_TRUE(subscriber.isEmpty());
}
TEST(TransferListener, MaximumTransferLength)
{
uavcan::DataTypeDescriptor type(uavcan::DATA_TYPE_KIND_MESSAGE, 123, uavcan::DataTypeHash());
for (int i = 0; i < uavcan::DataTypeHash::NUM_BYTES; i++)
type.hash.value[i] = i | (i << 4);
uavcan::PoolManager<1> poolmgr;
TestSubscriber<uavcan::MAX_TRANSFER_PAYLOAD_LEN * 2, 2, 2> subscriber(&type, &poolmgr);
static const std::string DATA_OK(uavcan::MAX_TRANSFER_PAYLOAD_LEN, 'z');
Emulator emulator(subscriber, type);
const Transfer transfers[] =
{
emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_UNICAST, 1, DATA_OK),
emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 1, DATA_OK)
};
emulator.send(transfers);
ASSERT_TRUE(subscriber.matchAndPop(transfers[1])); // Broadcast is shorter, so will complete first
ASSERT_TRUE(subscriber.matchAndPop(transfers[0]));
ASSERT_TRUE(subscriber.isEmpty());
}

2
libuavcan/test/transport/transfer_test_helpers.hpp
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@ -184,8 +184,8 @@ std::vector<uavcan::RxFrame> serializeTransfer(const Transfer& transfer, uavcan:
frm.makeLast();
offset += spres;
EXPECT_GE(uavcan::Frame::INDEX_MAX, frame_index);
frame_index++;
EXPECT_TRUE(uavcan::Frame::INDEX_MAX >= frame_index);
const uavcan::RxFrame rxfrm(frm, ts_monotonic, ts_utc, 0);
ts_monotonic += 1;