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Subscriber properly handles types that do not require buffering (i.e. types that do not require MFT transport). Ugly test added.

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This commit is contained in:
Pavel Kirienko
2014-03-10 01:50:42 +04:00
parent 30aa1bdecc
commit 2aa9d8cdb5
3 changed files with 70 additions and 5 deletions
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libuavcan/test/subscriber.cpp
+59
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@@ -6,6 +6,7 @@
#include <uavcan/subscriber.hpp>
#include <uavcan/util/method_binder.hpp>
#include <uavcan/mavlink/Message.hpp>
#include <root_ns_a/EmptyMessage.hpp>
#include "common.hpp"
#include "transport/can/iface_mock.hpp"
@@ -80,6 +81,10 @@ TEST(Subscriber, Basic)
uavcan::Subscriber<uavcan::mavlink::Message, Listener::SimpleBinder> sub_simple(sch, poolmgr);
uavcan::Subscriber<uavcan::mavlink::Message, Listener::SimpleBinder> sub_simple2(sch, poolmgr); // Not used
std::cout <<
"sizeof(uavcan::Subscriber<uavcan::mavlink::Message, Listener::ExtendedBinder>): " <<
sizeof(uavcan::Subscriber<uavcan::mavlink::Message, Listener::ExtendedBinder>) << std::endl;
// Null binder - will fail
ASSERT_EQ(-1, sub_extended.start(Listener::ExtendedBinder(NULL, NULL)));
@@ -233,3 +238,57 @@ TEST(Subscriber, FailureCount)
}
ASSERT_EQ(0, sch.getDispatcher().getNumMessageListeners()); // Removed
}
TEST(Subscriber, SingleFrameTransfer)
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
uavcan::PoolManager<1> poolmgr;
poolmgr.addPool(&pool);
// Manual type registration - we can't rely on the GDTR state
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<root_ns_a::EmptyMessage> _registrator;
SystemClockDriver clock_driver;
CanDriverMock can_driver(2, clock_driver);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Scheduler sch(can_driver, poolmgr, clock_driver, out_trans_reg, uavcan::NodeID(1));
typedef SubscriptionListener<root_ns_a::EmptyMessage> Listener;
uavcan::Subscriber<root_ns_a::EmptyMessage, Listener::SimpleBinder> sub(sch, poolmgr);
std::cout <<
"sizeof(uavcan::Subscriber<root_ns_a::EmptyMessage, Listener::SimpleBinder>): " <<
sizeof(uavcan::Subscriber<root_ns_a::EmptyMessage, Listener::SimpleBinder>) << std::endl;
Listener listener;
sub.start(listener.bindSimple());
for (int i = 0; i < 4; i++)
{
// uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
// uint_fast8_t frame_index, TransferID transfer_id, bool last_frame
uavcan::Frame frame(root_ns_a::EmptyMessage::DefaultDataTypeID, uavcan::TransferTypeMessageBroadcast,
uavcan::NodeID(i + 100), uavcan::NodeID::Broadcast, 0, i, true);
// No payload - message is empty
uavcan::RxFrame rx_frame(frame, clock_driver.getMonotonicMicroseconds(),
clock_driver.getUtcMicroseconds(), 0);
can_driver.ifaces[0].pushRx(rx_frame);
can_driver.ifaces[1].pushRx(rx_frame);
}
ASSERT_LE(0, sch.spin(clock_driver.getMonotonicMicroseconds() + 10000));
ASSERT_EQ(0, sub.getFailureCount());
ASSERT_EQ(4, listener.simple.size());
for (unsigned int i = 0; i < 4; i++)
{
ASSERT_TRUE(listener.simple.at(i) == root_ns_a::EmptyMessage());
}
}