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

libuavcan/include/uavcan/subscriber.hpp

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

libuavcan/test/subscriber.cpp

@@ -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
 }