ClusterManager tests

2026-06-28 01:20:34 +08:00 · 2015-05-05 12:53:33 +03:00
parent 3af95e3dd4
commit 2273df059a
3 changed files with 127 additions and 4 deletions
@@ -668,3 +668,118 @@ TEST(DynamicNodeIDAllocationServer, ClusterManagerOneServer)
    ASSERT_EQ(1, sub.collector.msg->known_nodes[0]);
    sub.collector.msg.reset();
 }
+
+
+TEST(DynamicNodeIDAllocationServer, ClusterManagerThreeServers)
+{
+    uavcan::GlobalDataTypeRegistry::instance().reset();
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::server::Discovery> _reg1;
+
+    StorageBackend storage;
+    uavcan::dynamic_node_id_server_impl::Log log(storage);
+    InterlinkedTestNodesWithSysClock nodes;
+
+    uavcan::dynamic_node_id_server_impl::ClusterManager mgr(nodes.a, storage, log);
+
+    /*
+     * Pub and sub
+     */
+    SubscriberWithCollector<uavcan::protocol::dynamic_node_id::server::Discovery> sub(nodes.b);
+    uavcan::Publisher<uavcan::protocol::dynamic_node_id::server::Discovery> pub(nodes.b);
+
+    ASSERT_LE(0, sub.start());
+    ASSERT_LE(0, pub.init());
+
+    /*
+     * Starting
+     */
+    ASSERT_LE(0, mgr.init(3));
+
+    ASSERT_EQ(0, mgr.getNumKnownServers());
+    ASSERT_FALSE(mgr.isClusterDiscovered());
+
+    /*
+     * Discovery publishing rate check
+     */
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(100));
+    ASSERT_FALSE(sub.collector.msg.get());
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000));
+    ASSERT_TRUE(sub.collector.msg.get());
+    ASSERT_EQ(3, sub.collector.msg->configured_cluster_size);
+    ASSERT_EQ(1, sub.collector.msg->known_nodes.size());
+    ASSERT_EQ(1, sub.collector.msg->known_nodes[0]);
+    sub.collector.msg.reset();
+
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(100));
+    ASSERT_FALSE(sub.collector.msg.get());
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000));
+    ASSERT_TRUE(sub.collector.msg.get());
+    ASSERT_EQ(3, sub.collector.msg->configured_cluster_size);
+    ASSERT_EQ(1, sub.collector.msg->known_nodes.size());
+    ASSERT_EQ(1, sub.collector.msg->known_nodes[0]);
+    sub.collector.msg.reset();
+
+    /*
+     * Discovering other nodes
+     */
+    uavcan::protocol::dynamic_node_id::server::Discovery msg;
+    msg.configured_cluster_size = 3;
+    msg.known_nodes.push_back(2U);
+    ASSERT_LE(0, pub.broadcast(msg));
+
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1050));
+    ASSERT_TRUE(sub.collector.msg.get());
+    ASSERT_EQ(3, sub.collector.msg->configured_cluster_size);
+    ASSERT_EQ(2, sub.collector.msg->known_nodes.size());
+    ASSERT_EQ(1, sub.collector.msg->known_nodes[0]);
+    ASSERT_EQ(2, sub.collector.msg->known_nodes[1]);
+    sub.collector.msg.reset();
+
+    ASSERT_FALSE(mgr.isClusterDiscovered());
+
+    // This will complete the discovery
+    msg.known_nodes.push_back(127U);
+    ASSERT_LE(0, pub.broadcast(msg));
+
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1050));
+    ASSERT_TRUE(sub.collector.msg.get());
+    ASSERT_EQ(3, sub.collector.msg->configured_cluster_size);
+    ASSERT_EQ(3, sub.collector.msg->known_nodes.size());
+    ASSERT_EQ(1, sub.collector.msg->known_nodes[0]);
+    ASSERT_EQ(2, sub.collector.msg->known_nodes[1]);
+    ASSERT_EQ(127, sub.collector.msg->known_nodes[2]);
+    sub.collector.msg.reset();
+
+    // Making sure discovery is now terminated
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1500));
+    ASSERT_FALSE(sub.collector.msg.get());
+
+    /*
+     * Checking Raft states
+     */
+    ASSERT_EQ(uavcan::NodeID(2),   mgr.getRemoteServerNodeIDAtIndex(0));
+    ASSERT_EQ(uavcan::NodeID(127), mgr.getRemoteServerNodeIDAtIndex(1));
+    ASSERT_EQ(uavcan::NodeID(),    mgr.getRemoteServerNodeIDAtIndex(2));
+
+    ASSERT_EQ(0, mgr.getServerMatchIndex(2));
+    ASSERT_EQ(0, mgr.getServerMatchIndex(127));
+
+    ASSERT_EQ(log.getLastIndex() + 1, mgr.getServerNextIndex(2));
+    ASSERT_EQ(log.getLastIndex() + 1, mgr.getServerNextIndex(127));
+
+    mgr.setServerMatchIndex(2, 10);
+    ASSERT_EQ(10, mgr.getServerMatchIndex(2));
+
+    mgr.incrementServerNextIndexBy(2, 5);
+    ASSERT_EQ(log.getLastIndex() + 1 + 5, mgr.getServerNextIndex(2));
+    mgr.decrementServerNextIndex(2);
+    ASSERT_EQ(log.getLastIndex() + 1 + 5 - 1, mgr.getServerNextIndex(2));
+
+    mgr.resetAllServerIndices();
+
+    ASSERT_EQ(0, mgr.getServerMatchIndex(2));
+    ASSERT_EQ(0, mgr.getServerMatchIndex(127));
+
+    ASSERT_EQ(log.getLastIndex() + 1, mgr.getServerNextIndex(2));
+    ASSERT_EQ(log.getLastIndex() + 1, mgr.getServerNextIndex(127));
+}