fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-18 07:57:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Partially refactored ServiceClient, tests are failing, the code is totally broken

Browse Source
This commit is contained in:
Pavel Kirienko
2015-05-15 18:41:38 +03:00
parent ee761eebad
commit 282b995c1e
15 changed files with 435 additions and 307 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/test/node/service_client.cpp
+15 -15
View File
@@ -26,9 +26,9 @@ struct ServiceCallResultHandler
void handleResponse(const uavcan::ServiceCallResult<DataType>& result)
{
std::cout << result << std::endl;
last_status = result.status;
last_response = result.response;
last_server_node_id = result.server_node_id;
last_status = result.getStatus();
last_response = result.getResponse();
last_server_node_id = result.getCallID().server_node_id;
}
bool match(StatusType status, uavcan::NodeID server_node_id, const typename DataType::Response& response) const
@@ -111,17 +111,17 @@ TEST(ServiceClient, Basic)
ASSERT_EQ(3, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Listening now!
ASSERT_TRUE(client1.isPending());
ASSERT_TRUE(client2.isPending());
ASSERT_TRUE(client3.isPending());
ASSERT_TRUE(client1.hasPendingCalls());
ASSERT_TRUE(client2.hasPendingCalls());
ASSERT_TRUE(client3.hasPendingCalls());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(20));
ASSERT_EQ(1, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Third is still listening!
ASSERT_FALSE(client1.isPending());
ASSERT_FALSE(client2.isPending());
ASSERT_TRUE(client3.isPending());
ASSERT_FALSE(client1.hasPendingCalls());
ASSERT_FALSE(client2.hasPendingCalls());
ASSERT_TRUE(client3.hasPendingCalls());
// Validating
root_ns_a::StringService::Response expected_response;
@@ -130,9 +130,9 @@ TEST(ServiceClient, Basic)
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(200));
ASSERT_FALSE(client1.isPending());
ASSERT_FALSE(client2.isPending());
ASSERT_FALSE(client3.isPending());
ASSERT_FALSE(client1.hasPendingCalls());
ASSERT_FALSE(client2.hasPendingCalls());
ASSERT_FALSE(client3.hasPendingCalls());
ASSERT_EQ(0, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Third has timed out :(
@@ -141,7 +141,7 @@ TEST(ServiceClient, Basic)
// Stray request
ASSERT_LT(0, client3.call(99, request)); // Will timeout!
ASSERT_TRUE(client3.isPending());
ASSERT_TRUE(client3.hasPendingCalls());
ASSERT_EQ(1, nodes.b.getDispatcher().getNumServiceResponseListeners());
}
@@ -178,10 +178,10 @@ TEST(ServiceClient, Rejection)
ASSERT_LT(0, client1.call(1, request));
ASSERT_EQ(1, nodes.b.getDispatcher().getNumServiceResponseListeners());
ASSERT_TRUE(client1.isPending());
ASSERT_TRUE(client1.hasPendingCalls());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(200));
ASSERT_FALSE(client1.isPending());
ASSERT_FALSE(client1.hasPendingCalls());
ASSERT_EQ(0, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Timed out