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Basic Raft test

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This commit is contained in:
Pavel Kirienko
2015-05-08 16:35:36 +03:00
parent 7d607a4dec
commit 1f7c0b40b3
2 changed files with 61 additions and 4 deletions
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libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
+3 -3
View File
@@ -952,8 +952,6 @@ void RaftCore::updateCandidate()
trace(TraceError, res);
}
}
UAVCAN_ASSERT(res >= 0);
}
}
@@ -1374,7 +1372,7 @@ void RaftCore::handleRequestVoteResponse(const ServiceCallResult<RequestVote>& r
void RaftCore::handleTimerEvent(const TimerEvent&)
{
if (cluster_.hadDiscoveryActivity())
if (cluster_.hadDiscoveryActivity() && isLeader())
{
setActiveMode(true);
}
@@ -1448,6 +1446,7 @@ int RaftCore::init(uint8_t cluster_size)
{
return res;
}
append_entries_client_.setCallback(AppendEntriesResponseCallback(this, &RaftCore::handleAppendEntriesResponse));
append_entries_client_.setRequestTimeout(update_interval_);
for (uint8_t i = 0; i < NumRequestVoteClients; i++)
@@ -1457,6 +1456,7 @@ int RaftCore::init(uint8_t cluster_size)
{
return res;
}
request_vote_clients_[i]->setCallback(RequestVoteResponseCallback(this, &RaftCore::handleRequestVoteResponse));
request_vote_clients_[i]->setRequestTimeout(update_interval_);
}
libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
+58 -1
View File
@@ -55,10 +55,31 @@ public:
class EventTracer : public uavcan::IDynamicNodeIDAllocationServerEventTracer
{
const std::string id_;
virtual void onEvent(uavcan::uint16_t event_code, uavcan::int64_t event_argument)
{
std::cout << "Event\t" << event_code << "\t" << event_argument << std::endl;
std::cout << "EVENT [" << id_ << "]\t" << event_code << "\t" << event_argument << std::endl;
}
public:
EventTracer() { }
EventTracer(const std::string& id) : id_(id) { }
};
class CommitHandler : public uavcan::dynamic_node_id_server_impl::ILeaderLogCommitHandler
{
const std::string id_;
virtual void onEntryCommitted(const uavcan::protocol::dynamic_node_id::server::Entry& entry)
{
std::cout << "ENTRY COMMITTED [" << id_ << "]\n" << entry << std::endl;
}
public:
CommitHandler(const std::string& id) : id_(id) { }
};
@@ -817,6 +838,42 @@ TEST(DynamicNodeIDAllocationServer, ClusterManagerThreeServers)
}
TEST(DynamicNodeIDAllocationServer, RaftCoreBasic)
{
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::server::Discovery> _reg1;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::server::AppendEntries> _reg2;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::server::RequestVote> _reg3;
EventTracer tracer_a("a");
EventTracer tracer_b("b");
StorageBackend storage_a;
StorageBackend storage_b;
CommitHandler commit_handler_a("a");
CommitHandler commit_handler_b("b");
InterlinkedTestNodesWithSysClock nodes;
uavcan::dynamic_node_id_server_impl::RaftCore raft_a(nodes.a, storage_a, tracer_a, commit_handler_a);
uavcan::dynamic_node_id_server_impl::RaftCore raft_b(nodes.b, storage_b, tracer_b, commit_handler_b);
/*
* Initialization
*/
ASSERT_LE(0, raft_a.init(2));
ASSERT_LE(0, raft_b.init(2));
/*
* Running and trying not to fall
*/
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(5000));
// The one with lower node ID must become a leader
ASSERT_TRUE(raft_a.isLeader());
ASSERT_FALSE(raft_b.isLeader());
}
TEST(DynamicNodeIDAllocationServer, ObjectSizes)
{
std::cout << "Log: " << sizeof(uavcan::dynamic_node_id_server_impl::Log) << std::endl;