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Refactored node ID allocation server; no changes to the logic

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This commit is contained in:
Pavel Kirienko
2015-05-09 16:03:22 +03:00
parent 098c29ce93
commit 18d5cb78aa
14 changed files with 2810 additions and 2773 deletions
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libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp → libuavcan/test/protocol/dynamic_node_id_server/server.cpp
+80 -74
View File
@@ -10,11 +10,13 @@
#include <gtest/gtest.h>
#include <map>
#include <memory>
#include <uavcan/protocol/dynamic_node_id_allocation_server.hpp>
#include <uavcan/protocol/dynamic_node_id_server/distributed/server.hpp>
#include <uavcan/protocol/dynamic_node_id_client.hpp>
#include "helpers.hpp"
#include "../helpers.hpp"
class StorageBackend : public uavcan::IDynamicNodeIDStorageBackend
using uavcan::dynamic_node_id_server::UniqueID;
class StorageBackend : public uavcan::dynamic_node_id_server::IStorageBackend
{
typedef std::map<String, String> Container;
Container container_;
@@ -60,11 +62,11 @@ public:
};
class EventTracer : public uavcan::IDynamicNodeIDAllocationServerEventTracer
class EventTracer : public uavcan::dynamic_node_id_server::distributed::IEventTracer
{
const std::string id_;
virtual void onEvent(uavcan::uint16_t code, uavcan::int64_t argument)
virtual void onEvent(uavcan::dynamic_node_id_server::distributed::TraceCode code, uavcan::int64_t argument)
{
std::cout << "EVENT [" << id_ << "]\t" << code << "\t" << getEventName(code) << "\t" << argument << std::endl;
}
@@ -76,7 +78,7 @@ public:
};
class CommitHandler : public uavcan::dynamic_node_id_server_impl::ILeaderLogCommitHandler
class CommitHandler : public uavcan::dynamic_node_id_server::distributed::ILeaderLogCommitHandler
{
const std::string id_;
@@ -95,7 +97,7 @@ public:
};
class AllocationRequestHandler : public uavcan::dynamic_node_id_server_impl::IAllocationRequestHandler
class AllocationRequestHandler : public uavcan::dynamic_node_id_server::IAllocationRequestHandler
{
std::vector<std::pair<UniqueID, uavcan::NodeID> > requests_;
@@ -139,13 +141,13 @@ public:
static const unsigned NumEntriesInStorageWithEmptyLog = 4; // last index + 3 items per log entry
TEST(DynamicNodeIDAllocationServer, MarshallingStorageDecorator)
TEST(DynamicNodeIDServer, StorageMarshaller)
{
StorageBackend st;
uavcan::dynamic_node_id_server_impl::MarshallingStorageDecorator marshaler(st);
uavcan::dynamic_node_id_server::StorageMarshaller marshaler(st);
uavcan::IDynamicNodeIDStorageBackend::String key;
uavcan::dynamic_node_id_server::IStorageBackend::String key;
/*
* uint32
@@ -221,13 +223,15 @@ TEST(DynamicNodeIDAllocationServer, MarshallingStorageDecorator)
}
TEST(DynamicNodeIDAllocationServer, LogInitialization)
TEST(DynamicNodeIDServer, LogInitialization)
{
using namespace uavcan::dynamic_node_id_server::distributed;
EventTracer tracer;
// No log data in the storage - initializing empty log
{
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
uavcan::dynamic_node_id_server::distributed::Log log(storage, tracer);
ASSERT_EQ(0, storage.getNumKeys());
ASSERT_LE(0, log.init());
@@ -241,7 +245,7 @@ TEST(DynamicNodeIDAllocationServer, LogInitialization)
// Nonempty storage, one item
{
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
Log log(storage, tracer);
storage.set("log_last_index", "0");
ASSERT_LE(-uavcan::ErrFailure, log.init()); // Expected one entry, none found
@@ -258,7 +262,7 @@ TEST(DynamicNodeIDAllocationServer, LogInitialization)
// Nonempty storage, broken data
{
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
Log log(storage, tracer);
storage.set("log_last_index", "foobar");
ASSERT_LE(-uavcan::ErrFailure, log.init()); // Bad value
@@ -281,7 +285,7 @@ TEST(DynamicNodeIDAllocationServer, LogInitialization)
// Nonempty storage, many items
{
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
Log log(storage, tracer);
storage.set("log_last_index", "1"); // 2 items - 0, 1
storage.set("log0_term", "0");
@@ -317,11 +321,13 @@ TEST(DynamicNodeIDAllocationServer, LogInitialization)
}
TEST(DynamicNodeIDAllocationServer, LogAppend)
TEST(DynamicNodeIDServer, LogAppend)
{
using namespace uavcan::dynamic_node_id_server::distributed;
EventTracer tracer;
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
Log log(storage, tracer);
ASSERT_EQ(0, storage.getNumKeys());
ASSERT_LE(0, log.init());
@@ -390,11 +396,13 @@ TEST(DynamicNodeIDAllocationServer, LogAppend)
}
TEST(DynamicNodeIDAllocationServer, LogRemove)
TEST(DynamicNodeIDServer, LogRemove)
{
using namespace uavcan::dynamic_node_id_server::distributed;
EventTracer tracer;
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
Log log(storage, tracer);
/*
* Filling the log fully
@@ -446,15 +454,17 @@ TEST(DynamicNodeIDAllocationServer, LogRemove)
}
TEST(DynamicNodeIDAllocationServer, PersistentStorageInitialization)
TEST(DynamicNodeIDServer, PersistentStorageInitialization)
{
using namespace uavcan::dynamic_node_id_server::distributed;
EventTracer tracer;
/*
* First initialization
*/
{
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::PersistentState pers(storage, tracer);
PersistentState pers(storage, tracer);
ASSERT_EQ(0, storage.getNumKeys());
ASSERT_LE(0, pers.init());
@@ -472,12 +482,12 @@ TEST(DynamicNodeIDAllocationServer, PersistentStorageInitialization)
{
// This log is used to initialize the storage
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
Log log(storage, tracer);
ASSERT_LE(0, log.init());
}
ASSERT_LE(1, storage.getNumKeys());
uavcan::dynamic_node_id_server_impl::PersistentState pers(storage, tracer);
PersistentState pers(storage, tracer);
ASSERT_LE(0, pers.init());
@@ -494,14 +504,14 @@ TEST(DynamicNodeIDAllocationServer, PersistentStorageInitialization)
{
// This log is used to initialize the storage
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
Log log(storage, tracer);
ASSERT_LE(0, log.init());
}
ASSERT_LE(1, storage.getNumKeys());
storage.set("current_term", "1");
uavcan::dynamic_node_id_server_impl::PersistentState pers(storage, tracer);
PersistentState pers(storage, tracer);
ASSERT_GT(0, pers.init()); // Fails because current term is not zero
@@ -522,7 +532,7 @@ TEST(DynamicNodeIDAllocationServer, PersistentStorageInitialization)
{
// This log is used to initialize the storage
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
Log log(storage, tracer);
ASSERT_LE(0, log.init());
uavcan::protocol::dynamic_node_id::server::Entry entry;
@@ -533,7 +543,7 @@ TEST(DynamicNodeIDAllocationServer, PersistentStorageInitialization)
}
ASSERT_LE(4, storage.getNumKeys());
uavcan::dynamic_node_id_server_impl::PersistentState pers(storage, tracer);
PersistentState pers(storage, tracer);
ASSERT_GT(0, pers.init()); // Fails because log is not empty
@@ -556,11 +566,13 @@ TEST(DynamicNodeIDAllocationServer, PersistentStorageInitialization)
}
TEST(DynamicNodeIDAllocationServer, PersistentStorage)
TEST(DynamicNodeIDServer, PersistentStorage)
{
using namespace uavcan::dynamic_node_id_server::distributed;
EventTracer tracer;
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::PersistentState pers(storage, tracer);
PersistentState pers(storage, tracer);
/*
* Initializing
@@ -643,8 +655,10 @@ TEST(DynamicNodeIDAllocationServer, PersistentStorage)
}
TEST(DynamicNodeIDAllocationServer, ClusterManagerInitialization)
TEST(DynamicNodeIDServer, ClusterManagerInitialization)
{
using namespace uavcan::dynamic_node_id_server::distributed;
const unsigned MaxClusterSize =
uavcan::protocol::dynamic_node_id::server::Discovery::FieldTypes::known_nodes::MaxSize;
@@ -658,10 +672,10 @@ TEST(DynamicNodeIDAllocationServer, ClusterManagerInitialization)
*/
{
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
Log log(storage, tracer);
InterlinkedTestNodesWithSysClock nodes;
uavcan::dynamic_node_id_server_impl::ClusterManager mgr(nodes.a, storage, log, tracer);
ClusterManager mgr(nodes.a, storage, log, tracer);
// Too big
ASSERT_GT(0, mgr.init(MaxClusterSize + 1));
@@ -683,10 +697,10 @@ TEST(DynamicNodeIDAllocationServer, ClusterManagerInitialization)
*/
{
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
Log log(storage, tracer);
InterlinkedTestNodesWithSysClock nodes;
uavcan::dynamic_node_id_server_impl::ClusterManager mgr(nodes.a, storage, log, tracer);
ClusterManager mgr(nodes.a, storage, log, tracer);
// Not configured
ASSERT_GT(0, mgr.init());
@@ -700,17 +714,19 @@ TEST(DynamicNodeIDAllocationServer, ClusterManagerInitialization)
}
TEST(DynamicNodeIDAllocationServer, ClusterManagerOneServer)
TEST(DynamicNodeIDServer, ClusterManagerOneServer)
{
using namespace uavcan::dynamic_node_id_server::distributed;
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::server::Discovery> _reg1;
EventTracer tracer;
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
Log log(storage, tracer);
InterlinkedTestNodesWithSysClock nodes;
uavcan::dynamic_node_id_server_impl::ClusterManager mgr(nodes.a, storage, log, tracer);
ClusterManager mgr(nodes.a, storage, log, tracer);
/*
* Pub and sub
@@ -775,17 +791,19 @@ TEST(DynamicNodeIDAllocationServer, ClusterManagerOneServer)
}
TEST(DynamicNodeIDAllocationServer, ClusterManagerThreeServers)
TEST(DynamicNodeIDServer, ClusterManagerThreeServers)
{
using namespace uavcan::dynamic_node_id_server::distributed;
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::server::Discovery> _reg1;
EventTracer tracer;
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
Log log(storage, tracer);
InterlinkedTestNodesWithSysClock nodes;
uavcan::dynamic_node_id_server_impl::ClusterManager mgr(nodes.a, storage, log, tracer);
ClusterManager mgr(nodes.a, storage, log, tracer);
/*
* Pub and sub
@@ -891,9 +909,9 @@ TEST(DynamicNodeIDAllocationServer, ClusterManagerThreeServers)
}
TEST(DynamicNodeIDAllocationServer, RaftCoreBasic)
TEST(DynamicNodeIDServer, RaftCoreBasic)
{
using namespace uavcan::dynamic_node_id_server_impl;
using namespace uavcan::dynamic_node_id_server::distributed;
using namespace uavcan::protocol::dynamic_node_id::server;
uavcan::GlobalDataTypeRegistry::instance().reset();
@@ -970,28 +988,24 @@ TEST(DynamicNodeIDAllocationServer, RaftCoreBasic)
}
TEST(DynamicNodeIDAllocationServer, EventCodeToString)
TEST(DynamicNodeIDServer, EventCodeToString)
{
using uavcan::IDynamicNodeIDAllocationServerEventTracer;
using namespace uavcan::dynamic_node_id_server_impl;
using namespace uavcan::dynamic_node_id_server::distributed;
using namespace uavcan::dynamic_node_id_server;
// Simply checking some error codes
ASSERT_STREQ("Error",
IDynamicNodeIDAllocationServerEventTracer::getEventName(TraceError));
ASSERT_STREQ("RaftActiveSwitch",
IDynamicNodeIDAllocationServerEventTracer::getEventName(TraceRaftActiveSwitch));
ASSERT_STREQ("RaftAppendEntriesCallFailure",
IDynamicNodeIDAllocationServerEventTracer::getEventName(TraceRaftAppendEntriesCallFailure));
ASSERT_STREQ("DiscoveryReceived",
IDynamicNodeIDAllocationServerEventTracer::getEventName(TraceDiscoveryReceived));
ASSERT_STREQ("Error", IEventTracer::getEventName(TraceError));
ASSERT_STREQ("RaftActiveSwitch", IEventTracer::getEventName(TraceRaftActiveSwitch));
ASSERT_STREQ("RaftAppendEntriesCallFailure", IEventTracer::getEventName(TraceRaftAppendEntriesCallFailure));
ASSERT_STREQ("DiscoveryReceived", IEventTracer::getEventName(TraceDiscoveryReceived));
}
TEST(DynamicNodeIDAllocationServer, AllocationRequestManager)
TEST(DynamicNodeIDServer, AllocationRequestManager)
{
using namespace uavcan::protocol::dynamic_node_id;
using namespace uavcan::protocol::dynamic_node_id::server;
using namespace uavcan::dynamic_node_id_server_impl;
using namespace uavcan::dynamic_node_id_server;
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<Allocation> _reg1;
@@ -1045,9 +1059,9 @@ TEST(DynamicNodeIDAllocationServer, AllocationRequestManager)
}
TEST(DynamicNodeIDAllocationServer, Main)
TEST(DynamicNodeIDServer, Main)
{
using namespace uavcan::dynamic_node_id_server_impl;
using namespace uavcan::dynamic_node_id_server;
using namespace uavcan::protocol::dynamic_node_id;
using namespace uavcan::protocol::dynamic_node_id::server;
@@ -1066,7 +1080,7 @@ TEST(DynamicNodeIDAllocationServer, Main)
/*
* Server
*/
uavcan::DynamicNodeIDAllocationServer server(nodes.a, storage, tracer);
distributed::Server server(nodes.a, storage, tracer);
ASSERT_LE(0, server.init(1));
@@ -1092,22 +1106,14 @@ TEST(DynamicNodeIDAllocationServer, Main)
}
TEST(DynamicNodeIDAllocationServer, ObjectSizes)
TEST(DynamicNodeIDServer, ObjectSizes)
{
std::cout << "Log: "
<< sizeof(uavcan::dynamic_node_id_server_impl::Log) << std::endl;
using namespace uavcan::dynamic_node_id_server;
std::cout << "PersistentState: "
<< sizeof(uavcan::dynamic_node_id_server_impl::PersistentState) << std::endl;
std::cout << "ClusterManager: "
<< sizeof(uavcan::dynamic_node_id_server_impl::ClusterManager) << std::endl;
std::cout << "RaftCore: "
<< sizeof(uavcan::dynamic_node_id_server_impl::RaftCore) << std::endl;
std::cout << "AllocationRequestManager: "
<< sizeof(uavcan::dynamic_node_id_server_impl::AllocationRequestManager) << std::endl;
std::cout << "DynamicNodeIDAllocationServer: " << sizeof(uavcan::DynamicNodeIDAllocationServer) << std::endl;
std::cout << "distributed::Log: " << sizeof(distributed::Log) << std::endl;
std::cout << "distributed::PersistentState: " << sizeof(distributed::PersistentState) << std::endl;
std::cout << "distributed::ClusterManager: " << sizeof(distributed::ClusterManager) << std::endl;
std::cout << "distributed::RaftCore: " << sizeof(distributed::RaftCore) << std::endl;
std::cout << "distributed::Server: " << sizeof(distributed::Server) << std::endl;
std::cout << "AllocationRequestManager: " << sizeof(AllocationRequestManager) << std::endl;
}