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Frame parsing test

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This commit is contained in:
Pavel Kirienko 2014-02-17 14:14:08 +04:00
parent d3d85a671c
commit 1886f0a8a9
1 changed files with 92 additions and 0 deletions
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92
libuavcan/test/transport/transfer.cpp
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@ -112,6 +112,98 @@ TEST(Transfer, FrameParseCompile)
}
TEST(Transfer, FrameParsing)
{
using uavcan::Frame;
using uavcan::CanFrame;
using uavcan::NodeID;
using uavcan::TransferID;
CanFrame can;
Frame frame;
ASSERT_FALSE(frame.parse(can));
for (unsigned int i = 0; i < sizeof(CanFrame::data); i++)
can.data[i] = i | (i << 4);
// CAN ID field order: Transfer ID, Last Frame, Frame Index, Source Node ID, Transfer Type, Data Type ID
/*
* SFT broadcast
*/
can.id = CanFrame::FLAG_EFF |
(2 << 0) | (1 << 3) | (0 << 4) | (42 << 10) | (uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST << 17) | (456 << 19);
ASSERT_TRUE(frame.parse(can));
ASSERT_TRUE(frame.isFirst());
ASSERT_TRUE(frame.isLast());
ASSERT_EQ(0, frame.getIndex());
ASSERT_EQ(NodeID(42), frame.getSrcNodeID());
ASSERT_EQ(NodeID::BROADCAST, frame.getDstNodeID());
ASSERT_EQ(456, frame.getDataTypeID());
ASSERT_EQ(TransferID(2), frame.getTransferID());
ASSERT_EQ(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, frame.getTransferType());
ASSERT_EQ(sizeof(CanFrame::data), frame.getMaxPayloadLen());
/*
* SFT addressed
*/
can.id = CanFrame::FLAG_EFF |
(2 << 0) | (1 << 3) | (0 << 4) | (42 << 10) | (uavcan::TRANSFER_TYPE_MESSAGE_UNICAST << 17) | (456 << 19);
ASSERT_FALSE(frame.parse(can)); // No payload - failure
can.dlc = 1;
can.data[0] = 0xFF;
ASSERT_FALSE(frame.parse(can)); // Invalid first byte - failure
can.data[0] = 127;
ASSERT_TRUE(frame.parse(can));
ASSERT_TRUE(frame.isFirst());
ASSERT_TRUE(frame.isLast());
ASSERT_EQ(0, frame.getIndex());
ASSERT_EQ(NodeID(42), frame.getSrcNodeID());
ASSERT_EQ(NodeID(127), frame.getDstNodeID());
ASSERT_EQ(456, frame.getDataTypeID());
ASSERT_EQ(TransferID(2), frame.getTransferID());
ASSERT_EQ(uavcan::TRANSFER_TYPE_MESSAGE_UNICAST, frame.getTransferType());
ASSERT_EQ(sizeof(CanFrame::data) - 1, frame.getMaxPayloadLen());
/*
* MFT invalid - unterminated transfer
*/
can.id = CanFrame::FLAG_EFF |
(2 << 0) | (0 << 3) | (Frame::INDEX_MAX << 4) | (42 << 10) |
(uavcan::TRANSFER_TYPE_MESSAGE_UNICAST << 17) | (456 << 19);
ASSERT_FALSE(frame.parse(can));
/*
* MFT invalid - invalid frame index
*/
can.id = CanFrame::FLAG_EFF |
(2 << 0) | (0 << 3) | (63 << 4) | (42 << 10) | (uavcan::TRANSFER_TYPE_MESSAGE_UNICAST << 17) | (456 << 19);
ASSERT_FALSE(frame.parse(can));
/*
* Malformed frames
*/
can.id = CanFrame::FLAG_EFF |
(2 << 0) | (1 << 3) | (0 << 4) | (42 << 10) | (uavcan::TRANSFER_TYPE_MESSAGE_UNICAST << 17) | (456 << 19);
can.dlc = 3;
can.data[0] = 42;
ASSERT_FALSE(frame.parse(can)); // Src == Dst Node ID
can.data[0] = 41;
ASSERT_TRUE(frame.parse(can));
can.id = CanFrame::FLAG_EFF |
(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
}
TEST(Transfer, RxFrameParse)
{
using uavcan::Frame;