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Changed API of DynamicNodeIDClient: start() accepts UniqueID instead of HardwareVersion

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This commit is contained in:
Pavel Kirienko
2015-09-25 00:02:58 +03:00
parent 50dc08663a
commit 0f53a76b50
7 changed files with 37 additions and 35 deletions
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libuavcan/test/protocol/dynamic_node_id_client.cpp
+16 -16
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@@ -21,19 +21,19 @@ TEST(DynamicNodeIDClient, Basic)
/*
* Client initialization
*/
uavcan::protocol::HardwareVersion hwver;
uavcan::protocol::HardwareVersion::FieldTypes::unique_id unique_id;
ASSERT_LE(-uavcan::ErrInvalidParam, dnidac.start(hwver)); // Empty hardware version is not allowed
ASSERT_LE(-uavcan::ErrInvalidParam, dnidac.start(unique_id)); // Empty hardware version is not allowed
for (uavcan::uint8_t i = 0; i < hwver.unique_id.size(); i++)
for (uavcan::uint8_t i = 0; i < unique_id.size(); i++)
{
hwver.unique_id[i] = i;
unique_id[i] = i;
}
ASSERT_LE(-uavcan::ErrInvalidParam, dnidac.start(hwver, uavcan::NodeID()));
ASSERT_LE(-uavcan::ErrInvalidParam, dnidac.start(unique_id, uavcan::NodeID()));
const uavcan::NodeID PreferredNodeID = 42;
ASSERT_LE(0, dnidac.start(hwver, PreferredNodeID));
ASSERT_LE(0, dnidac.start(unique_id, PreferredNodeID));
ASSERT_FALSE(dnidac.getAllocatedNodeID().isValid());
ASSERT_FALSE(dnidac.getAllocatorNodeID().isValid());
@@ -56,7 +56,7 @@ TEST(DynamicNodeIDClient, Basic)
ASSERT_TRUE(dynid_sub.collector.msg->first_part_of_unique_id);
ASSERT_TRUE(uavcan::equal(dynid_sub.collector.msg->unique_id.begin(),
dynid_sub.collector.msg->unique_id.end(),
hwver.unique_id.begin()));
unique_id.begin()));
dynid_sub.collector.msg.reset();
// Second - rate is no lower than 0.5 Hz
@@ -92,7 +92,7 @@ TEST(DynamicNodeIDClient, Basic)
{
uavcan::protocol::dynamic_node_id::Allocation msg;
msg.unique_id.resize(BytesPerRequest);
uavcan::copy(hwver.unique_id.begin(), hwver.unique_id.begin() + BytesPerRequest, msg.unique_id.begin());
uavcan::copy(unique_id.begin(), unique_id.begin() + BytesPerRequest, msg.unique_id.begin());
std::cout << "First-stage offer:\n" << msg << std::endl;
@@ -106,7 +106,7 @@ TEST(DynamicNodeIDClient, Basic)
ASSERT_FALSE(dynid_sub.collector.msg->first_part_of_unique_id);
ASSERT_TRUE(uavcan::equal(dynid_sub.collector.msg->unique_id.begin(),
dynid_sub.collector.msg->unique_id.end(),
hwver.unique_id.begin() + BytesPerRequest));
unique_id.begin() + BytesPerRequest));
dynid_sub.collector.msg.reset();
}
@@ -116,7 +116,7 @@ TEST(DynamicNodeIDClient, Basic)
{
uavcan::protocol::dynamic_node_id::Allocation msg;
msg.unique_id.resize(BytesPerRequest * 2);
uavcan::copy(hwver.unique_id.begin(), hwver.unique_id.begin() + BytesPerRequest * 2, msg.unique_id.begin());
uavcan::copy(unique_id.begin(), unique_id.begin() + BytesPerRequest * 2, msg.unique_id.begin());
std::cout << "Second-stage offer:\n" << msg << std::endl;
@@ -130,7 +130,7 @@ TEST(DynamicNodeIDClient, Basic)
ASSERT_FALSE(dynid_sub.collector.msg->first_part_of_unique_id);
ASSERT_TRUE(uavcan::equal(dynid_sub.collector.msg->unique_id.begin(),
dynid_sub.collector.msg->unique_id.end(),
hwver.unique_id.begin() + BytesPerRequest * 2));
unique_id.begin() + BytesPerRequest * 2));
dynid_sub.collector.msg.reset();
}
@@ -145,7 +145,7 @@ TEST(DynamicNodeIDClient, Basic)
uavcan::protocol::dynamic_node_id::Allocation msg;
msg.unique_id.resize(16);
msg.node_id = 72;
uavcan::copy(hwver.unique_id.begin(), hwver.unique_id.end(), msg.unique_id.begin());
uavcan::copy(unique_id.begin(), unique_id.end(), msg.unique_id.begin());
ASSERT_FALSE(dynid_sub.collector.msg.get());
ASSERT_LE(0, dynid_pub.broadcast(msg));
@@ -169,11 +169,11 @@ TEST(DynamicNodeIDClient, NonPassiveMode)
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::Allocation> _reg1;
(void)_reg1;
uavcan::protocol::HardwareVersion hwver;
for (uavcan::uint8_t i = 0; i < hwver.unique_id.size(); i++)
uavcan::protocol::HardwareVersion::FieldTypes::unique_id unique_id;
for (uavcan::uint8_t i = 0; i < unique_id.size(); i++)
{
hwver.unique_id[i] = i;
unique_id[i] = i;
}
ASSERT_LE(-uavcan::ErrLogic, dnidac.start(hwver));
ASSERT_LE(-uavcan::ErrLogic, dnidac.start(unique_id));
}