Raft log append test

libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp

@@ -611,6 +611,11 @@ public:
      */
     int init(uint8_t cluster_size = ClusterManager::ClusterSizeUnknown);
 
+    /**
+     * This function is mostly needed for testing.
+     */
+    Log::Index getCommitIndex() const { return commit_index_; }
+
     /**
      * Only the leader can call @ref appendLog().
      */
@@ -621,7 +626,7 @@ public:
      * Failures are tolerble because all operations are idempotent.
      * This method will trigger an assertion failure and return error if the current node is not the leader.
      */
-    int appendLog(const Entry& entry);
+    int appendLog(const Entry::FieldTypes::unique_id& unique_id, NodeID node_id);
 
     /**
      * This class is used to perform log searches.

libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp

@@ -1513,10 +1513,15 @@ int RaftCore::init(uint8_t cluster_size)
     return 0;
 }
 
-int RaftCore::appendLog(const Entry& entry)
+int RaftCore::appendLog(const Entry::FieldTypes::unique_id& unique_id, NodeID node_id)
 {
     if (isLeader())
     {
+        Entry entry;
+        entry.node_id = node_id.get();
+        entry.unique_id = unique_id;
+        entry.term = persistent_state_.getCurrentTerm();
+
         trace(TraceRaftNewLogEntry, entry.node_id);
         return persistent_state_.getLog().append(entry);
     }

libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp

@@ -871,6 +871,22 @@ TEST(DynamicNodeIDAllocationServer, RaftCoreBasic)
     // The one with lower node ID must become a leader
     ASSERT_TRUE(raft_a.isLeader());
     ASSERT_FALSE(raft_b.isLeader());
+
+    ASSERT_EQ(0, raft_a.getCommitIndex());
+    ASSERT_EQ(0, raft_b.getCommitIndex());
+
+    /*
+     * Adding some stuff
+     */
+    uavcan::protocol::dynamic_node_id::server::Entry::FieldTypes::unique_id unique_id;
+    uavcan::fill_n(unique_id.begin(), 16, uint8_t(0xAA));
+
+    ASSERT_LE(0, raft_a.appendLog(unique_id, uavcan::NodeID(1)));
+
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2000));
+
+    ASSERT_EQ(1, raft_a.getCommitIndex());
+    ASSERT_EQ(1, raft_b.getCommitIndex());
 }