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Tests refactoring - mocks and helpers were separated from testing logic
This commit is contained in:
Pavel Kirienko
@@ -2,199 +2,10 @@
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include <queue>
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#include <vector>
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#include <gtest/gtest.h>
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#include <uavcan/internal/transport/can_io.hpp>
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#include "../../common.hpp"
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#include "iface_mock.hpp"
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class CanIfaceMock : public uavcan::ICanIface
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{
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public:
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struct FrameWithTime
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{
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uavcan::CanFrame frame;
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uint64_t time;
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FrameWithTime(const uavcan::CanFrame& frame, uint64_t time)
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: frame(frame)
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, time(time)
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{ }
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};
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std::queue<FrameWithTime> tx; ///< Queue of outgoing frames (bus <-- library)
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std::queue<FrameWithTime> rx; ///< Queue of incoming frames (bus --> library)
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bool writeable;
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bool tx_failure;
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bool rx_failure;
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uint64_t num_errors;
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SystemClockMock& clockmock;
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CanIfaceMock(SystemClockMock& clockmock)
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: writeable(true)
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, tx_failure(false)
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, rx_failure(false)
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, num_errors(0)
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, clockmock(clockmock)
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{ }
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void pushRx(uavcan::CanFrame frame)
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{
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rx.push(FrameWithTime(frame, clockmock.utc));
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}
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bool matchAndPopTx(const uavcan::CanFrame& frame, uint64_t tx_deadline)
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{
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if (tx.empty())
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{
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std::cout << "Tx buffer is empty" << std::endl;
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return false;
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}
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const FrameWithTime frame_time = tx.front();
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tx.pop();
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return (frame_time.frame == frame) && (frame_time.time == tx_deadline);
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}
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int send(const uavcan::CanFrame& frame, uint64_t tx_timeout_usec)
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{
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assert(this);
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EXPECT_TRUE(writeable); // Shall never be called when not writeable
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if (tx_failure)
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return -1;
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if (!writeable)
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return 0;
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const uint64_t monotonic_deadline = tx_timeout_usec + clockmock.monotonic;
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tx.push(FrameWithTime(frame, monotonic_deadline));
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return 1;
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}
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int receive(uavcan::CanFrame& out_frame, uint64_t& out_ts_monotonic_usec, uint64_t& out_ts_utc_usec)
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{
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assert(this);
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EXPECT_TRUE(rx.size()); // Shall never be called when not readable
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if (rx_failure)
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return -1;
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if (rx.empty())
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return 0;
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const FrameWithTime frame = rx.front();
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rx.pop();
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out_frame = frame.frame;
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out_ts_monotonic_usec = frame.time;
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out_ts_utc_usec = 0;
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return 1;
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}
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// cppcheck-suppress unusedFunction
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// cppcheck-suppress functionConst
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int configureFilters(const uavcan::CanFilterConfig* filter_configs, int num_configs) { return -1; }
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// cppcheck-suppress unusedFunction
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int getNumFilters() const { return 0; }
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uint64_t getNumErrors() const { return num_errors; }
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};
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class CanDriverMock : public uavcan::ICanDriver
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{
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public:
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std::vector<CanIfaceMock> ifaces;
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SystemClockMock& clockmock;
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bool select_failure;
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CanDriverMock(int num_ifaces, SystemClockMock& clockmock)
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: ifaces(num_ifaces, CanIfaceMock(clockmock))
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, clockmock(clockmock)
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, select_failure(false)
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{ }
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int select(int& inout_write_iface_mask, int& inout_read_iface_mask, uint64_t timeout_usec)
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{
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assert(this);
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std::cout << "Write/read masks: " << inout_write_iface_mask << "/" << inout_read_iface_mask << std::endl;
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if (select_failure)
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return -1;
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const int valid_iface_mask = (1 << getNumIfaces()) - 1;
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EXPECT_FALSE(inout_write_iface_mask & ~valid_iface_mask);
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EXPECT_FALSE(inout_read_iface_mask & ~valid_iface_mask);
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int out_write_mask = 0;
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int out_read_mask = 0;
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for (int i = 0; i < getNumIfaces(); i++)
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{
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const int mask = 1 << i;
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if ((inout_write_iface_mask & mask) && ifaces.at(i).writeable)
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out_write_mask |= mask;
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if ((inout_read_iface_mask & mask) && ifaces.at(i).rx.size())
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out_read_mask |= mask;
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}
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inout_write_iface_mask = out_write_mask;
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inout_read_iface_mask = out_read_mask;
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if ((out_write_mask | out_read_mask) == 0)
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{
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clockmock.advance(timeout_usec); // Emulating timeout
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return 0;
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}
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return 1; // This value is not being checked anyway, it just has to be greater than zero
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}
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uavcan::ICanIface* getIface(int iface_index) { return &ifaces.at(iface_index); }
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int getNumIfaces() const { return ifaces.size(); }
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};
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TEST(CanIOManager, CanDriverMock)
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{
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using uavcan::CanFrame;
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SystemClockMock clockmock;
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CanDriverMock driver(3, clockmock);
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ASSERT_EQ(3, driver.getNumIfaces());
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// All WR, no RD
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int mask_wr = 7;
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int mask_rd = 7;
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EXPECT_LT(0, driver.select(mask_wr, mask_rd, 100));
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EXPECT_EQ(7, mask_wr);
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EXPECT_EQ(0, mask_rd);
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for (int i = 0; i < 3; i++)
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driver.ifaces.at(i).writeable = false;
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// No WR, no RD
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mask_wr = 7;
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mask_rd = 7;
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EXPECT_EQ(0, driver.select(mask_wr, mask_rd, 100));
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EXPECT_EQ(0, mask_wr);
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EXPECT_EQ(0, mask_rd);
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EXPECT_EQ(100, clockmock.monotonic);
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EXPECT_EQ(100, clockmock.utc);
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// No WR, #1 RD
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const CanFrame fr1 = makeCanFrame(123, "foo", EXT);
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driver.ifaces.at(1).pushRx(fr1);
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mask_wr = 7;
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mask_rd = 6;
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EXPECT_LT(0, driver.select(mask_wr, mask_rd, 100));
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EXPECT_EQ(0, mask_wr);
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EXPECT_EQ(2, mask_rd);
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CanFrame fr2;
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uint64_t ts_monotonic, ts_utc;
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EXPECT_EQ(1, driver.getIface(1)->receive(fr2, ts_monotonic, ts_utc));
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EXPECT_EQ(fr1, fr2);
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EXPECT_EQ(100, ts_monotonic);
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EXPECT_EQ(0, ts_utc);
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// #0 WR, #1 RD, Select failure
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driver.ifaces.at(0).writeable = true;
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driver.select_failure = true;
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mask_wr = 1;
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mask_rd = 7;
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EXPECT_EQ(-1, driver.select(mask_wr, mask_rd, 100));
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EXPECT_EQ(1, mask_wr); // Leaving masks unchanged - library must ignore them
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EXPECT_EQ(7, mask_rd);
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}
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static bool rxFrameEquals(const uavcan::CanRxFrame& rxframe, const uavcan::CanFrame& frame,
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uint64_t timestamp, int iface_index)
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{
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