libuavcan testing: TestNetwork<> helper

libuavcan/test/node/test_node_test.cpp

@@ -0,0 +1,32 @@
+/*
+ * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include "test_node.hpp"
+
+
+TEST(TestNode, TestNetwork)
+{
+    TestNetwork<4> nwk;
+
+    uavcan::CanFrame frame;
+    for (int i = 0; i < 8; i++)
+    {
+        frame.data[i] = i;
+    }
+    frame.id = 1234U;
+
+    ASSERT_EQ(1, nwk.nodes[0]->can_driver.send(frame, uavcan::MonotonicTime(), uavcan::CanIOFlags()));
+
+    for (int i = 1; i < 4; i++)
+    {
+        uavcan::CanFrame rx;
+        uavcan::MonotonicTime ts_mono;
+        uavcan::UtcTime ts_utc;
+        uavcan::CanIOFlags flags = 0;
+        ASSERT_EQ(1, nwk.nodes[i]->can_driver.receive(rx, ts_mono, ts_utc, flags));
+
+        ASSERT_TRUE(rx == frame);
+    }
+}