TransferListener implemented and tested

2026-10-29 06:23:34 +08:00 · 2014-02-13 13:01:08 +04:00
parent f78a2a452c
commit 2d2116f624
8 changed files with 584 additions and 83 deletions
@@ -0,0 +1,110 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <algorithm>
+#include <gtest/gtest.h>
+#include <uavcan/internal/transport/transfer_listener.hpp>
+
+
+static uavcan::RxFrame makeFrame()
+{
+    uavcan::RxFrame frame;
+    frame.data_type_id = 123;
+    frame.last_frame = true;
+    frame.source_node_id = 42;
+    frame.transfer_id.increment();
+    frame.ts_monotonic = 123;
+    frame.ts_utc = 456;
+    frame.payload_len = uavcan::RxFrame::PAYLOAD_LEN_MAX;
+    for (int i = 0; i < uavcan::RxFrame::PAYLOAD_LEN_MAX; i++)
+        frame.payload[i] = i;
+    return frame;
+}
+
+
+static bool match(const uavcan::IncomingTransfer& it, const uavcan::RxFrame& frame,
+                  const uint8_t* payload, unsigned int payload_len)
+{
+    // Fields extracted from the frame struct
+    EXPECT_EQ(it.getMonotonicTimestamp(), frame.ts_monotonic);
+    EXPECT_EQ(it.getUtcTimestamp(), frame.ts_utc);
+    EXPECT_EQ(it.getSourceNodeID(), frame.source_node_id);
+    EXPECT_EQ(it.getTransferID(), frame.transfer_id);
+    EXPECT_EQ(it.getTransferType(), frame.transfer_type);
+
+    // Payload comparison
+    static const unsigned int BUFLEN = 1024;
+    uint8_t buf_reference[BUFLEN], buf_actual[BUFLEN];
+
+    if (payload_len > BUFLEN)
+    {
+        std::cout << "match(): Payload is too long" << std::endl;
+        exit(1);
+    }
+
+    std::fill(buf_reference, buf_reference + BUFLEN, 0);
+    std::fill(buf_actual, buf_actual + BUFLEN, 0);
+    std::copy(payload, payload + payload_len, buf_reference);
+
+    EXPECT_EQ(payload_len, it.read(0, buf_actual, payload_len * 3));
+    EXPECT_EQ(0, it.read(payload_len, buf_actual, payload_len * 3));
+
+    return std::equal(buf_reference, buf_reference + BUFLEN, buf_actual);
+}
+
+
+TEST(SingleFrameIncomingTransfer, Basic)
+{
+    using uavcan::RxFrame;
+    using uavcan::SingleFrameIncomingTransfer;
+
+    const RxFrame frame = makeFrame();
+    SingleFrameIncomingTransfer it(frame, frame.payload, frame.payload_len);
+
+    ASSERT_TRUE(match(it, frame, frame.payload, frame.payload_len));
+}
+
+
+TEST(MultiFrameIncomingTransfer, Basic)
+{
+    using uavcan::RxFrame;
+    using uavcan::MultiFrameIncomingTransfer;
+
+    uavcan::PoolManager<1> poolmgr;                 // We don't need dynamic memory
+    uavcan::TransferBufferManager<256, 1> bufmgr(&poolmgr);
+
+    const RxFrame frame = makeFrame();
+    uavcan::TransferBufferManagerKey bufmgr_key(frame.source_node_id, frame.transfer_type);
+    uavcan::TransferBufferAccessor tba(&bufmgr, bufmgr_key);
+
+    MultiFrameIncomingTransfer it(frame.ts_monotonic, frame.ts_utc, frame, tba);
+
+    /*
+     * Empty read must fail
+     */
+    uint8_t data_byte = 0;
+    ASSERT_GT(0, it.read(0, &data_byte, 1));  // Error - no such buffer
+
+    /*
+     * Filling the test data
+     */
+    const std::string data = "123Hello world";
+    const uint8_t* const data_ptr = reinterpret_cast<const uint8_t*>(data.c_str());
+    ASSERT_FALSE(bufmgr.access(bufmgr_key));
+    ASSERT_TRUE(bufmgr.create(bufmgr_key));
+    ASSERT_EQ(data.length(), bufmgr.access(bufmgr_key)->write(0, data_ptr, data.length()));
+
+    /*
+     * Check
+     */
+    ASSERT_TRUE(match(it, frame, data_ptr, data.length()));
+
+    /*
+     * Buffer release
+     */
+    ASSERT_TRUE(bufmgr.access(bufmgr_key));
+    it.release();
+    ASSERT_FALSE(bufmgr.access(bufmgr_key));
+}
+