Reorganized directory structure - directory 'internal' pulled up one level. No logical changes.

2026-10-19 22:23:33 +08:00 · 2014-03-14 15:01:20 +04:00
parent ab34c94ba2
commit 15cbf96378
90 changed files with 165 additions and 166 deletions
@@ -0,0 +1,116 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/node/publisher.hpp>
+#include <uavcan/mavlink/Message.hpp>
+#include "../clock.hpp"
+#include "../transport/can/can.hpp"
+
+
+TEST(Publisher, Basic)
+{
+    uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
+    uavcan::PoolManager<1> poolmgr;
+    poolmgr.addPool(&pool);
+
+    SystemClockMock clock_mock(100);
+    CanDriverMock can_driver(2, clock_mock);
+
+    uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
+
+    uavcan::Scheduler sch(can_driver, poolmgr, clock_mock, out_trans_reg, uavcan::NodeID(1));
+
+    uavcan::MarshalBufferProvider<> buffer_provider;
+
+    uavcan::Publisher<uavcan::mavlink::Message> publisher(sch, buffer_provider);
+
+    std::cout <<
+        "sizeof(uavcan::Publisher<uavcan::mavlink::Message>): " <<
+        sizeof(uavcan::Publisher<uavcan::mavlink::Message>) << std::endl;
+
+    // Manual type registration - we can't rely on the GDTR state
+    uavcan::GlobalDataTypeRegistry::instance().reset();
+    uavcan::DefaultDataTypeRegistrator<uavcan::mavlink::Message> _registrator;
+
+    /*
+     * Message layout:
+     * uint8 seq
+     * uint8 sysid
+     * uint8 compid
+     * uint8 msgid
+     * uint8[<256] payload
+     */
+    uavcan::mavlink::Message msg;
+    msg.seq = 0x42;
+    msg.sysid = 0x72;
+    msg.compid = 0x08;
+    msg.msgid = 0xa5;
+    msg.payload = "Msg";
+
+    const uint8_t expected_transfer_payload[] = {0x42, 0x72, 0x08, 0xa5, 'M', 's', 'g'};
+    const uint64_t tx_timeout_usec = publisher.getDefaultTxTimeout().toUSec();
+
+    /*
+     * Broadcast
+     */
+    {
+        ASSERT_LT(0, publisher.broadcast(msg));
+
+        // uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
+        // uint_fast8_t frame_index, TransferID transfer_id, bool last_frame = false
+        uavcan::Frame expected_frame(uavcan::mavlink::Message::DefaultDataTypeID, uavcan::TransferTypeMessageBroadcast,
+                                     sch.getDispatcher().getSelfNodeID(), uavcan::NodeID::Broadcast, 0, 0, true);
+        expected_frame.setPayload(expected_transfer_payload, 7);
+
+        uavcan::CanFrame expected_can_frame;
+        ASSERT_TRUE(expected_frame.compile(expected_can_frame));
+
+        ASSERT_TRUE(can_driver.ifaces[0].matchAndPopTx(expected_can_frame, tx_timeout_usec + 100));
+        ASSERT_TRUE(can_driver.ifaces[1].matchAndPopTx(expected_can_frame, tx_timeout_usec + 100));
+        ASSERT_TRUE(can_driver.ifaces[0].tx.empty());
+        ASSERT_TRUE(can_driver.ifaces[1].tx.empty());
+
+        // Second shot - checking the transfer ID
+        ASSERT_LT(0, publisher.broadcast(msg));
+
+        expected_frame = uavcan::Frame(uavcan::mavlink::Message::DefaultDataTypeID, uavcan::TransferTypeMessageBroadcast,
+                                       sch.getDispatcher().getSelfNodeID(), uavcan::NodeID::Broadcast, 0, 1, true);
+        expected_frame.setPayload(expected_transfer_payload, 7);
+        ASSERT_TRUE(expected_frame.compile(expected_can_frame));
+
+        ASSERT_TRUE(can_driver.ifaces[0].matchAndPopTx(expected_can_frame, tx_timeout_usec + 100));
+        ASSERT_TRUE(can_driver.ifaces[1].matchAndPopTx(expected_can_frame, tx_timeout_usec + 100));
+        ASSERT_TRUE(can_driver.ifaces[0].tx.empty());
+        ASSERT_TRUE(can_driver.ifaces[1].tx.empty());
+    }
+
+    clock_mock.advance(1000);
+
+    /*
+     * Unicast
+     */
+    {
+        ASSERT_LT(0, publisher.unicast(msg, 0x44));
+
+        // uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
+        // uint_fast8_t frame_index, TransferID transfer_id, bool last_frame = false
+        uavcan::Frame expected_frame(uavcan::mavlink::Message::DefaultDataTypeID, uavcan::TransferTypeMessageUnicast,
+                                     sch.getDispatcher().getSelfNodeID(), uavcan::NodeID(0x44), 0, 0, true);
+        expected_frame.setPayload(expected_transfer_payload, 7);
+
+        uavcan::CanFrame expected_can_frame;
+        ASSERT_TRUE(expected_frame.compile(expected_can_frame));
+
+        ASSERT_TRUE(can_driver.ifaces[0].matchAndPopTx(expected_can_frame, tx_timeout_usec + 100 + 1000));
+        ASSERT_TRUE(can_driver.ifaces[1].matchAndPopTx(expected_can_frame, tx_timeout_usec + 100 + 1000));
+        ASSERT_TRUE(can_driver.ifaces[0].tx.empty());
+        ASSERT_TRUE(can_driver.ifaces[1].tx.empty());
+    }
+
+    /*
+     * Misc
+     */
+    ASSERT_TRUE(uavcan::GlobalDataTypeRegistry::instance().isFrozen());
+}