Tests refactoring - mocks and helpers were separated from testing logic

2026-10-28 07:53:33 +08:00 · 2014-02-15 21:04:12 +04:00
parent e7ce9fb586
commit 06d757b78e
6 changed files with 511 additions and 476 deletions
@@ -0,0 +1,95 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include "transfer_test_helpers.hpp"
+
+
+TEST(TransferTestHelpers, Transfer)
+{
+    uavcan::PoolAllocator<uavcan::MEM_POOL_BLOCK_SIZE * 8, uavcan::MEM_POOL_BLOCK_SIZE> pool;
+    uavcan::PoolManager<1> poolmgr;
+    poolmgr.addPool(&pool);
+
+    uavcan::TransferBufferManager<128, 1> mgr(&poolmgr);
+    uavcan::TransferBufferAccessor tba(&mgr, uavcan::TransferBufferManagerKey(0, uavcan::TRANSFER_TYPE_MESSAGE_UNICAST));
+
+    uavcan::RxFrame frame;
+    frame.last_frame = true;
+    uavcan::MultiFrameIncomingTransfer mfit(10, 1000, frame, tba);
+
+    // Filling the buffer with data
+    static const std::string TEST_DATA = "Kaneda! What do you see? Kaneda! What do you see? Kaneda! Kaneda!!!";
+    ASSERT_TRUE(tba.create());
+    ASSERT_EQ(TEST_DATA.length(),
+              tba.access()->write(0, reinterpret_cast<const uint8_t*>(TEST_DATA.c_str()), TEST_DATA.length()));
+
+    // Reading back
+    const Transfer transfer(mfit);
+    ASSERT_EQ(TEST_DATA, transfer.payload);
+}
+
+
+TEST(TransferTestHelpers, MFTSerialization)
+{
+    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;
+
+    static const std::string DATA = "To go wrong in one's own way is better than to go right in someone else's.";
+    const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_MESSAGE_UNICAST, 12, 42, DATA);
+
+    const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, 127, type);
+
+    std::cout << "Serialized transfer:\n";
+    for (std::vector<uavcan::RxFrame>::const_iterator it = ser.begin(); it != ser.end(); ++it)
+        std::cout << "\t" << it->toString() << "\n";
+
+    for (std::vector<uavcan::RxFrame>::const_iterator it = ser.begin(); it != ser.end(); ++it)
+    {
+        std::cout << "\t'";
+        for (int i = 0; i < it->payload_len; i++)
+        {
+            uint8_t ch = it->payload[i];
+            if (ch < 0x20 || ch > 0x7E)
+                ch = '.';
+            std::cout << static_cast<char>(ch);
+        }
+        std::cout << "'\n";
+    }
+    std::cout << std::flush;
+}
+
+
+TEST(TransferTestHelpers, SFTSerialization)
+{
+    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;
+
+    {
+        const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 12, 42, "Nvrfrget");
+        const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, 127, type);
+        ASSERT_EQ(1, ser.size());
+        std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
+    }
+    {
+        const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_SERVICE_REQUEST, 12, 42, "7-chars");
+        const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, 127, type);
+        ASSERT_EQ(1, ser.size());
+        std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
+    }
+    {
+        const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 12, 42, "");
+        const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, 127, type);
+        ASSERT_EQ(1, ser.size());
+        std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
+    }
+    {
+        const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_SERVICE_RESPONSE, 12, 42, "");
+        const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, 127, type);
+        ASSERT_EQ(1, ser.size());
+        std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
+    }
+}