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Subscriber: proper destruction, tests for that, tests for getFailureCount()

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This commit is contained in:
Pavel Kirienko 2014-03-09 19:37:07 +04:00
parent 31e169db4a
commit 1b7efa45f5
2 changed files with 75 additions and 0 deletions
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2
libuavcan/include/uavcan/subscriber.hpp
View File

@ -119,6 +119,8 @@ public:
StaticAssert<DataTypeKind(DataType::DataTypeKind) == DataTypeKindMessage>::check();
}
virtual ~Subscriber() { stop(); }
int start(Callback callback)
{
stop();

73
libuavcan/test/subscriber.cpp
View File

@ -66,6 +66,7 @@ static bool operator==(const uavcan::mavlink::Message& a, const uavcan::mavlink:
a.payload == b.payload;
}
TEST(Subscriber, Basic)
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
@ -132,14 +133,20 @@ TEST(Subscriber, Basic)
/*
* Reception
*/
ASSERT_EQ(0, sch.getDispatcher().getNumMessageListeners());
ASSERT_EQ(1, sub_extended.start(listener.bindExtended()));
ASSERT_EQ(1, sub_extended2.start(listener.bindExtended()));
ASSERT_EQ(1, sub_simple.start(listener.bindSimple()));
ASSERT_EQ(1, sub_simple2.start(listener.bindSimple()));
ASSERT_EQ(4, sch.getDispatcher().getNumMessageListeners());
sub_extended2.stop(); // These are not used - making sure they aren't receiving anything
sub_simple2.stop();
ASSERT_EQ(2, sch.getDispatcher().getNumMessageListeners());
for (unsigned int i = 0; i < rx_frames.size(); i++)
{
can_driver.ifaces[0].pushRx(rx_frames[i]);
@ -170,4 +177,70 @@ TEST(Subscriber, Basic)
ASSERT_EQ(0, sub_extended.getFailureCount());
ASSERT_EQ(0, sub_simple.getFailureCount());
/*
* Unregistration
*/
ASSERT_EQ(2, sch.getDispatcher().getNumMessageListeners());
sub_extended.stop();
sub_extended2.stop();
sub_simple.stop();
sub_simple2.stop();
ASSERT_EQ(0, sch.getDispatcher().getNumMessageListeners());
}
static void panickingSink(const uavcan::ReceivedDataStructure<uavcan::mavlink::Message>&)
{
FAIL() << "I just went mad";
}
TEST(Subscriber, FailureCount)
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
uavcan::PoolManager<1> poolmgr;
poolmgr.addPool(&pool);
// Manual type registration - we can't rely on the GDTR state
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::mavlink::Message> _registrator;
SystemClockDriver clock_driver;
CanDriverMock can_driver(2, clock_driver);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Scheduler sch(can_driver, poolmgr, clock_driver, out_trans_reg, uavcan::NodeID(1));
{
uavcan::Subscriber<uavcan::mavlink::Message> sub(sch, poolmgr);
ASSERT_EQ(0, sch.getDispatcher().getNumMessageListeners());
sub.start(panickingSink);
ASSERT_EQ(1, sch.getDispatcher().getNumMessageListeners());
ASSERT_EQ(0, sub.getFailureCount());
for (int i = 0; i < 4; i++)
{
// 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
uavcan::Frame frame(uavcan::mavlink::Message::DefaultDataTypeID, uavcan::TransferTypeMessageBroadcast,
uavcan::NodeID(i + 100), uavcan::NodeID::Broadcast, 0, i, true);
// No payload - broken transfer
uavcan::RxFrame rx_frame(frame, clock_driver.getMonotonicMicroseconds(),
clock_driver.getUtcMicroseconds(), 0);
can_driver.ifaces[0].pushRx(rx_frame);
can_driver.ifaces[1].pushRx(rx_frame);
}
ASSERT_LE(0, sch.spin(clock_driver.getMonotonicMicroseconds() + 10000));
ASSERT_EQ(4, sub.getFailureCount());
ASSERT_EQ(1, sch.getDispatcher().getNumMessageListeners()); // Still there
}
ASSERT_EQ(0, sch.getDispatcher().getNumMessageListeners()); // Removed
}