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UTC timestamping support in CAN driver mock; this enables stricter timestamping checks in other tests

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This commit is contained in:
Pavel Kirienko 2015-07-03 07:41:18 +03:00
parent 8debad440e
commit 2d6fc2a5bd
1 changed files with 15 additions and 2 deletions
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17
libuavcan/test/transport/can/can.hpp
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@ -22,12 +22,19 @@ public:
{
uavcan::CanFrame frame;
uavcan::MonotonicTime time;
uavcan::UtcTime time_utc;
FrameWithTime(const uavcan::CanFrame& frame, uavcan::MonotonicTime time)
: frame(frame)
, time(time)
{ }
FrameWithTime(const uavcan::CanFrame& frame, uavcan::MonotonicTime time, uavcan::UtcTime time_utc)
: frame(frame)
, time(time)
, time_utc(time_utc)
{ }
FrameWithTime(const uavcan::CanFrame& frame, uint64_t time_usec)
: frame(frame)
, time(uavcan::MonotonicTime::fromUSec(time_usec))
@ -62,7 +69,7 @@ public:
{
uavcan::CanFrame can_frame;
EXPECT_TRUE(frame.compile(can_frame));
rx.push(FrameWithTime(can_frame, frame.getMonotonicTimestamp()));
rx.push(FrameWithTime(can_frame, frame.getMonotonicTimestamp(), frame.getUtcTimestamp()));
}
bool matchAndPopTx(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline)
@ -135,6 +142,7 @@ public:
rx.pop();
out_frame = frame.frame;
out_ts_monotonic = frame.time;
out_ts_utc = frame.time_utc;
}
else
{
@ -144,7 +152,12 @@ public:
out_frame = frame.frame;
out_ts_monotonic = frame.time;
}
out_ts_utc = enable_utc_timestamping ? iclock.getUtc() : uavcan::UtcTime();
// Let's just all pretend that this code is autogenerated, instead of being carefully designed by a human.
if (out_ts_utc.isZero())
{
out_ts_utc = enable_utc_timestamping ? iclock.getUtc() : uavcan::UtcTime();
}
return 1;
}