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

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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
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libuavcan/test/protocol/data_type_info_provider.cpp
+33 -33
View File
@@ -31,29 +31,29 @@ static bool validateDataTypeInfoResponse(const std::auto_ptr<ServiceCallResult<G
std::cout << "Request was not successful" << std::endl;
return false;
}
if (resp->response.name != DataType::getDataTypeFullName())
if (resp->getResponse().name != DataType::getDataTypeFullName())
{
std::cout << "Type name mismatch: '"
<< resp->response.name.c_str() << "' '"
<< resp->getResponse().name.c_str() << "' '"
<< DataType::getDataTypeFullName() << "'" << std::endl;
return false;
}
if (DataType::getDataTypeSignature().get() != resp->response.signature)
if (DataType::getDataTypeSignature().get() != resp->getResponse().signature)
{
std::cout << "Signature mismatch" << std::endl;
return false;
}
if (resp->response.mask != mask)
if (resp->getResponse().mask != mask)
{
std::cout << "Mask mismatch" << std::endl;
return false;
}
if (resp->response.kind.value != DataType::DataTypeKind)
if (resp->getResponse().kind.value != DataType::DataTypeKind)
{
std::cout << "Kind mismatch" << std::endl;
return false;
}
if (resp->response.id != DataType::DefaultDataTypeID)
if (resp->getResponse().id != DataType::DefaultDataTypeID)
{
std::cout << "DTID mismatch" << std::endl;
return false;
@@ -90,7 +90,7 @@ TEST(DataTypeInfoProvider, Basic)
ASSERT_TRUE(validateDataTypeInfoResponse<GetDataTypeInfo>(gdti_cln.collector.result,
GetDataTypeInfo::Response::MASK_KNOWN |
GetDataTypeInfo::Response::MASK_SERVING));
ASSERT_EQ(1, gdti_cln.collector.result->server_node_id.get());
ASSERT_EQ(1, gdti_cln.collector.result->getCallID().server_node_id.get());
/*
* GetDataTypeInfo request for GetDataTypeInfo by name
@@ -105,7 +105,7 @@ TEST(DataTypeInfoProvider, Basic)
ASSERT_TRUE(validateDataTypeInfoResponse<GetDataTypeInfo>(gdti_cln.collector.result,
GetDataTypeInfo::Response::MASK_KNOWN |
GetDataTypeInfo::Response::MASK_SERVING));
ASSERT_EQ(1, gdti_cln.collector.result->server_node_id.get());
ASSERT_EQ(1, gdti_cln.collector.result->getCallID().server_node_id.get());
/*
* GetDataTypeInfo request for NodeStatus - not used yet
@@ -148,11 +148,11 @@ TEST(DataTypeInfoProvider, Basic)
ASSERT_TRUE(gdti_cln.collector.result.get());
ASSERT_TRUE(gdti_cln.collector.result->isSuccessful());
ASSERT_EQ(1, gdti_cln.collector.result->server_node_id.get());
ASSERT_EQ(0, gdti_cln.collector.result->response.mask);
ASSERT_TRUE(gdti_cln.collector.result->response.name.empty()); // Empty name
ASSERT_EQ(gdti_request.id, gdti_cln.collector.result->response.id);
ASSERT_EQ(gdti_request.kind.value, gdti_cln.collector.result->response.kind.value);
ASSERT_EQ(1, gdti_cln.collector.result->getCallID().server_node_id.get());
ASSERT_EQ(0, gdti_cln.collector.result->getResponse().mask);
ASSERT_TRUE(gdti_cln.collector.result->getResponse().name.empty()); // Empty name
ASSERT_EQ(gdti_request.id, gdti_cln.collector.result->getResponse().id);
ASSERT_EQ(gdti_request.kind.value, gdti_cln.collector.result->getResponse().kind.value);
/*
* Requesting a non-existent type by name
@@ -166,11 +166,11 @@ TEST(DataTypeInfoProvider, Basic)
ASSERT_TRUE(gdti_cln.collector.result.get());
ASSERT_TRUE(gdti_cln.collector.result->isSuccessful());
ASSERT_EQ(1, gdti_cln.collector.result->server_node_id.get());
ASSERT_EQ(0, gdti_cln.collector.result->response.mask);
ASSERT_EQ("uavcan.equipment.gnss.Fix", gdti_cln.collector.result->response.name);
ASSERT_EQ(0, gdti_cln.collector.result->response.id);
ASSERT_EQ(0, gdti_cln.collector.result->response.kind.value);
ASSERT_EQ(1, gdti_cln.collector.result->getCallID().server_node_id.get());
ASSERT_EQ(0, gdti_cln.collector.result->getResponse().mask);
ASSERT_EQ("uavcan.equipment.gnss.Fix", gdti_cln.collector.result->getResponse().name);
ASSERT_EQ(0, gdti_cln.collector.result->getResponse().id);
ASSERT_EQ(0, gdti_cln.collector.result->getResponse().kind.value);
/*
* ComputeAggregateTypeSignature test for messages
@@ -184,12 +184,12 @@ TEST(DataTypeInfoProvider, Basic)
ASSERT_TRUE(cats_cln.collector.result.get());
ASSERT_TRUE(cats_cln.collector.result->isSuccessful());
ASSERT_EQ(1, cats_cln.collector.result->server_node_id.get());
ASSERT_EQ(NodeStatus::getDataTypeSignature().get(), cats_cln.collector.result->response.aggregate_signature);
ASSERT_EQ(2048, cats_cln.collector.result->response.mutually_known_ids.size());
ASSERT_TRUE(cats_cln.collector.result->response.mutually_known_ids[NodeStatus::DefaultDataTypeID]);
cats_cln.collector.result->response.mutually_known_ids[NodeStatus::DefaultDataTypeID] = false;
ASSERT_FALSE(cats_cln.collector.result->response.mutually_known_ids.any());
ASSERT_EQ(1, cats_cln.collector.result->getCallID().server_node_id.get());
ASSERT_EQ(NodeStatus::getDataTypeSignature().get(), cats_cln.collector.result->getResponse().aggregate_signature);
ASSERT_EQ(2048, cats_cln.collector.result->getResponse().mutually_known_ids.size());
ASSERT_TRUE(cats_cln.collector.result->getResponse().mutually_known_ids[NodeStatus::DefaultDataTypeID]);
cats_cln.collector.result->getResponse().mutually_known_ids[NodeStatus::DefaultDataTypeID] = false;
ASSERT_FALSE(cats_cln.collector.result->getResponse().mutually_known_ids.any());
/*
* ComputeAggregateTypeSignature test for services
@@ -203,13 +203,13 @@ TEST(DataTypeInfoProvider, Basic)
ASSERT_TRUE(cats_cln.collector.result.get());
ASSERT_TRUE(cats_cln.collector.result->isSuccessful());
ASSERT_EQ(1, cats_cln.collector.result->server_node_id.get());
ASSERT_EQ(512, cats_cln.collector.result->response.mutually_known_ids.size());
ASSERT_TRUE(cats_cln.collector.result->response.mutually_known_ids[GetDataTypeInfo::DefaultDataTypeID]);
ASSERT_TRUE(cats_cln.collector.result->response.mutually_known_ids[ComputeAggregateTypeSignature::DefaultDataTypeID]);
cats_cln.collector.result->response.mutually_known_ids[GetDataTypeInfo::DefaultDataTypeID] = false;
cats_cln.collector.result->response.mutually_known_ids[ComputeAggregateTypeSignature::DefaultDataTypeID] = false;
ASSERT_FALSE(cats_cln.collector.result->response.mutually_known_ids.any());
ASSERT_EQ(1, cats_cln.collector.result->getCallID().server_node_id.get());
ASSERT_EQ(512, cats_cln.collector.result->getResponse().mutually_known_ids.size());
ASSERT_TRUE(cats_cln.collector.result->getResponse().mutually_known_ids[GetDataTypeInfo::DefaultDataTypeID]);
ASSERT_TRUE(cats_cln.collector.result->getResponse().mutually_known_ids[ComputeAggregateTypeSignature::DefaultDataTypeID]);
cats_cln.collector.result->getResponse().mutually_known_ids[GetDataTypeInfo::DefaultDataTypeID] = false;
cats_cln.collector.result->getResponse().mutually_known_ids[ComputeAggregateTypeSignature::DefaultDataTypeID] = false;
ASSERT_FALSE(cats_cln.collector.result->getResponse().mutually_known_ids.any());
/*
* ComputeAggregateTypeSignature test for a non-existent type
@@ -221,6 +221,6 @@ TEST(DataTypeInfoProvider, Basic)
ASSERT_TRUE(cats_cln.collector.result.get());
ASSERT_TRUE(cats_cln.collector.result->isSuccessful());
ASSERT_EQ(0, cats_cln.collector.result->response.aggregate_signature);
ASSERT_FALSE(cats_cln.collector.result->response.mutually_known_ids.any());
ASSERT_EQ(0, cats_cln.collector.result->getResponse().aggregate_signature);
ASSERT_FALSE(cats_cln.collector.result->getResponse().mutually_known_ids.any());
}
libuavcan/test/protocol/node_status_provider.cpp
+6 -5
View File
@@ -102,14 +102,15 @@ TEST(NodeStatusProvider, Basic)
ASSERT_TRUE(gni_cln.collector.result.get()); // Response must have been delivered
ASSERT_TRUE(gni_cln.collector.result->isSuccessful());
ASSERT_EQ(1, gni_cln.collector.result->server_node_id.get());
ASSERT_EQ(1, gni_cln.collector.result->getCallID().server_node_id.get());
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_CRITICAL, gni_cln.collector.result->response.status.status_code);
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_CRITICAL,
gni_cln.collector.result->getResponse().status.status_code);
ASSERT_TRUE(hwver == gni_cln.collector.result->response.hardware_version);
ASSERT_TRUE(swver == gni_cln.collector.result->response.software_version);
ASSERT_TRUE(hwver == gni_cln.collector.result->getResponse().hardware_version);
ASSERT_TRUE(swver == gni_cln.collector.result->getResponse().software_version);
ASSERT_EQ("superluminal_communication_unit", gni_cln.collector.result->response.name);
ASSERT_EQ("superluminal_communication_unit", gni_cln.collector.result->getResponse().name);
/*
* GlobalDiscoveryRequest
libuavcan/test/protocol/param_server.cpp
+16 -16
View File
@@ -113,16 +113,16 @@ TEST(ParamServer, Basic)
save_erase_rq.opcode = uavcan::protocol::param::ExecuteOpcode::Request::OPCODE_SAVE;
doCall(save_erase_cln, save_erase_rq, nodes);
ASSERT_TRUE(save_erase_cln.collector.result.get());
ASSERT_TRUE(save_erase_cln.collector.result->response.ok);
ASSERT_TRUE(save_erase_cln.collector.result->getResponse().ok);
save_erase_rq.opcode = uavcan::protocol::param::ExecuteOpcode::Request::OPCODE_ERASE;
doCall(save_erase_cln, save_erase_rq, nodes);
ASSERT_TRUE(save_erase_cln.collector.result->response.ok);
ASSERT_TRUE(save_erase_cln.collector.result->getResponse().ok);
// Invalid opcode
save_erase_rq.opcode = 0xFF;
doCall(save_erase_cln, save_erase_rq, nodes);
ASSERT_FALSE(save_erase_cln.collector.result->response.ok);
ASSERT_FALSE(save_erase_cln.collector.result->getResponse().ok);
/*
* Get/set
@@ -131,17 +131,17 @@ TEST(ParamServer, Basic)
get_set_rq.name = "nonexistent_parameter";
doCall(get_set_cln, get_set_rq, nodes);
ASSERT_TRUE(get_set_cln.collector.result.get());
ASSERT_TRUE(get_set_cln.collector.result->response.name.empty());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().name.empty());
// No such variable, shall return empty name/value
get_set_rq.index = 0;
get_set_rq.name.clear();
get_set_rq.value.value_int.push_back(0xDEADBEEF);
doCall(get_set_cln, get_set_rq, nodes);
ASSERT_TRUE(get_set_cln.collector.result->response.name.empty());
ASSERT_TRUE(get_set_cln.collector.result->response.value.value_bool.empty());
ASSERT_TRUE(get_set_cln.collector.result->response.value.value_int.empty());
ASSERT_TRUE(get_set_cln.collector.result->response.value.value_float.empty());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().name.empty());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().value.value_bool.empty());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().value.value_int.empty());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().value.value_float.empty());
mgr.kv["foobar"] = 123.456; // New param
@@ -149,10 +149,10 @@ TEST(ParamServer, Basic)
get_set_rq = uavcan::protocol::param::GetSet::Request();
get_set_rq.name = "foobar";
doCall(get_set_cln, get_set_rq, nodes);
ASSERT_STREQ("foobar", get_set_cln.collector.result->response.name.c_str());
ASSERT_TRUE(get_set_cln.collector.result->response.value.value_bool.empty());
ASSERT_TRUE(get_set_cln.collector.result->response.value.value_int.empty());
ASSERT_FLOAT_EQ(123.456F, get_set_cln.collector.result->response.value.value_float[0]);
ASSERT_STREQ("foobar", get_set_cln.collector.result->getResponse().name.c_str());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().value.value_bool.empty());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().value.value_int.empty());
ASSERT_FLOAT_EQ(123.456F, get_set_cln.collector.result->getResponse().value.value_float[0]);
// Set by index
get_set_rq = uavcan::protocol::param::GetSet::Request();
@@ -163,13 +163,13 @@ TEST(ParamServer, Basic)
get_set_rq.value.value_string.push_back(str);
}
doCall(get_set_cln, get_set_rq, nodes);
ASSERT_STREQ("foobar", get_set_cln.collector.result->response.name.c_str());
ASSERT_FLOAT_EQ(424242, get_set_cln.collector.result->response.value.value_float[0]);
ASSERT_STREQ("foobar", get_set_cln.collector.result->getResponse().name.c_str());
ASSERT_FLOAT_EQ(424242, get_set_cln.collector.result->getResponse().value.value_float[0]);
// Get by index
get_set_rq = uavcan::protocol::param::GetSet::Request();
get_set_rq.index = 0;
doCall(get_set_cln, get_set_rq, nodes);
ASSERT_STREQ("foobar", get_set_cln.collector.result->response.name.c_str());
ASSERT_FLOAT_EQ(424242, get_set_cln.collector.result->response.value.value_float[0]);
ASSERT_STREQ("foobar", get_set_cln.collector.result->getResponse().name.c_str());
ASSERT_FLOAT_EQ(424242, get_set_cln.collector.result->getResponse().value.value_float[0]);
}
libuavcan/test/protocol/restart_request_server.cpp
+4 -4
View File
@@ -44,7 +44,7 @@ TEST(RestartRequestServer, Basic)
ASSERT_TRUE(rrs_cln.collector.result.get());
ASSERT_TRUE(rrs_cln.collector.result->isSuccessful());
ASSERT_FALSE(rrs_cln.collector.result->response.ok);
ASSERT_FALSE(rrs_cln.collector.result->getResponse().ok);
/*
* Accepted
@@ -57,7 +57,7 @@ TEST(RestartRequestServer, Basic)
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_TRUE(rrs_cln.collector.result->isSuccessful());
ASSERT_TRUE(rrs_cln.collector.result->response.ok);
ASSERT_TRUE(rrs_cln.collector.result->getResponse().ok);
/*
* Rejected by handler
@@ -68,7 +68,7 @@ TEST(RestartRequestServer, Basic)
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_TRUE(rrs_cln.collector.result->isSuccessful());
ASSERT_FALSE(rrs_cln.collector.result->response.ok);
ASSERT_FALSE(rrs_cln.collector.result->getResponse().ok);
/*
* Rejected because of invalid magic number
@@ -79,5 +79,5 @@ TEST(RestartRequestServer, Basic)
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_TRUE(rrs_cln.collector.result->isSuccessful());
ASSERT_FALSE(rrs_cln.collector.result->response.ok);
ASSERT_FALSE(rrs_cln.collector.result->getResponse().ok);
}
libuavcan/test/protocol/transport_stats_provider.cpp
+21 -21
View File
@@ -28,13 +28,13 @@ TEST(TransportStatsProvider, Basic)
ASSERT_TRUE(tsp_cln.collector.result.get());
ASSERT_TRUE(tsp_cln.collector.result->isSuccessful());
ASSERT_EQ(0, tsp_cln.collector.result->response.transfer_errors);
ASSERT_EQ(1, tsp_cln.collector.result->response.transfers_rx);
ASSERT_EQ(0, tsp_cln.collector.result->response.transfers_tx);
ASSERT_EQ(1, tsp_cln.collector.result->response.can_iface_stats.size());
ASSERT_EQ(0, tsp_cln.collector.result->response.can_iface_stats[0].errors);
ASSERT_EQ(1, tsp_cln.collector.result->response.can_iface_stats[0].frames_rx);
ASSERT_EQ(0, tsp_cln.collector.result->response.can_iface_stats[0].frames_tx);
ASSERT_EQ(0, tsp_cln.collector.result->getResponse().transfer_errors);
ASSERT_EQ(1, tsp_cln.collector.result->getResponse().transfers_rx);
ASSERT_EQ(0, tsp_cln.collector.result->getResponse().transfers_tx);
ASSERT_EQ(1, tsp_cln.collector.result->getResponse().can_iface_stats.size());
ASSERT_EQ(0, tsp_cln.collector.result->getResponse().can_iface_stats[0].errors);
ASSERT_EQ(1, tsp_cln.collector.result->getResponse().can_iface_stats[0].frames_rx);
ASSERT_EQ(0, tsp_cln.collector.result->getResponse().can_iface_stats[0].frames_tx);
/*
* Second request
@@ -43,13 +43,13 @@ TEST(TransportStatsProvider, Basic)
ASSERT_LE(0, nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10)));
ASSERT_TRUE(tsp_cln.collector.result.get());
ASSERT_EQ(0, tsp_cln.collector.result->response.transfer_errors);
ASSERT_EQ(2, tsp_cln.collector.result->response.transfers_rx);
ASSERT_EQ(1, tsp_cln.collector.result->response.transfers_tx);
ASSERT_EQ(1, tsp_cln.collector.result->response.can_iface_stats.size());
ASSERT_EQ(0, tsp_cln.collector.result->response.can_iface_stats[0].errors);
ASSERT_EQ(2, tsp_cln.collector.result->response.can_iface_stats[0].frames_rx);
ASSERT_EQ(6, tsp_cln.collector.result->response.can_iface_stats[0].frames_tx);
ASSERT_EQ(0, tsp_cln.collector.result->getResponse().transfer_errors);
ASSERT_EQ(2, tsp_cln.collector.result->getResponse().transfers_rx);
ASSERT_EQ(1, tsp_cln.collector.result->getResponse().transfers_tx);
ASSERT_EQ(1, tsp_cln.collector.result->getResponse().can_iface_stats.size());
ASSERT_EQ(0, tsp_cln.collector.result->getResponse().can_iface_stats[0].errors);
ASSERT_EQ(2, tsp_cln.collector.result->getResponse().can_iface_stats[0].frames_rx);
ASSERT_EQ(6, tsp_cln.collector.result->getResponse().can_iface_stats[0].frames_tx);
/*
* Sending a malformed frame, it must be registered as tranfer error
@@ -74,11 +74,11 @@ TEST(TransportStatsProvider, Basic)
ASSERT_LE(0, nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10)));
ASSERT_TRUE(tsp_cln.collector.result.get());
ASSERT_EQ(1, tsp_cln.collector.result->response.transfer_errors); // That broken frame
ASSERT_EQ(3, tsp_cln.collector.result->response.transfers_rx);
ASSERT_EQ(2, tsp_cln.collector.result->response.transfers_tx);
ASSERT_EQ(1, tsp_cln.collector.result->response.can_iface_stats.size());
ASSERT_EQ(72, tsp_cln.collector.result->response.can_iface_stats[0].errors);
ASSERT_EQ(4, tsp_cln.collector.result->response.can_iface_stats[0].frames_rx); // Same here
ASSERT_EQ(12, tsp_cln.collector.result->response.can_iface_stats[0].frames_tx);
ASSERT_EQ(1, tsp_cln.collector.result->getResponse().transfer_errors); // That broken frame
ASSERT_EQ(3, tsp_cln.collector.result->getResponse().transfers_rx);
ASSERT_EQ(2, tsp_cln.collector.result->getResponse().transfers_tx);
ASSERT_EQ(1, tsp_cln.collector.result->getResponse().can_iface_stats.size());
ASSERT_EQ(72, tsp_cln.collector.result->getResponse().can_iface_stats[0].errors);
ASSERT_EQ(4, tsp_cln.collector.result->getResponse().can_iface_stats[0].frames_rx); // Same here
ASSERT_EQ(12, tsp_cln.collector.result->getResponse().can_iface_stats[0].frames_tx);
}