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ClusterManager tests

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This commit is contained in:
Pavel Kirienko
2015-05-05 12:53:33 +03:00
parent 3af95e3dd4
commit 2273df059a
3 changed files with 127 additions and 4 deletions
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libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
+10 -4
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@@ -539,6 +539,12 @@ int PersistentState::setVotedFor(const NodeID node_id)
/*
* ClusterManager
*/
void ClusterManager::Server::resetIndices(const Log& log)
{
next_index = Log::Index(log.getLastIndex() + 1U);
match_index = 0;
}
ClusterManager::Server* ClusterManager::findServer(NodeID node_id)
{
for (uint8_t i = 0; i < num_known_servers_; i++)
@@ -581,6 +587,7 @@ void ClusterManager::addServer(NodeID node_id)
if (!isKnownServer(node_id) && node_id.isUnicast())
{
servers_[num_known_servers_].node_id = node_id;
servers_[num_known_servers_].resetIndices(log_);
num_known_servers_ = static_cast<uint8_t>(num_known_servers_ + 1U);
}
else
@@ -599,14 +606,14 @@ void ClusterManager::handleTimerEvent(const TimerEvent&)
protocol::dynamic_node_id::server::Discovery msg;
msg.configured_cluster_size = cluster_size_;
msg.known_nodes.push_back(getNode().getNodeID().get()); // Putting ourselves at index 0
for (uint8_t i = 0; i < num_known_servers_; i++)
{
UAVCAN_ASSERT(servers_[i].node_id.isUnicast());
msg.known_nodes.push_back(servers_[i].node_id.get());
}
msg.known_nodes.push_back(getNode().getNodeID().get());
UAVCAN_ASSERT(msg.known_nodes.size() == (num_known_servers_ + 1));
/*
@@ -826,8 +833,7 @@ void ClusterManager::resetAllServerIndices()
for (uint8_t i = 0; i < num_known_servers_; i++)
{
UAVCAN_ASSERT(servers_[i].node_id.isUnicast());
servers_[i].next_index = Log::Index(log_.getLastIndex() + 1U);
servers_[i].match_index = 0;
servers_[i].resetIndices(log_);
}
}