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NodeStatusMonitor update

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This commit is contained in:
Pavel Kirienko
2015-07-08 23:24:59 +03:00
parent e98ba01e22
commit 2fa78ddda2
2 changed files with 168 additions and 104 deletions
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libuavcan/test/protocol/node_status_monitor.cpp
+65 -64
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@@ -7,11 +7,13 @@
#include <uavcan/protocol/node_status_provider.hpp>
#include "helpers.hpp"
static void publishNodeStatus(CanDriverMock& can, uavcan::NodeID node_id, uavcan::uint8_t status_code,
static void publishNodeStatus(CanDriverMock& can, uavcan::NodeID node_id,
uavcan::uint8_t health, uavcan::uint8_t mode,
uavcan::uint32_t uptime_sec, uavcan::TransferID tid)
{
uavcan::protocol::NodeStatus msg;
msg.status_code = status_code;
msg.health = health;
msg.mode = mode;
msg.uptime_sec = uptime_sec;
emulateSingleFrameBroadcastTransfer(can, node_id, msg, tid);
}
@@ -46,38 +48,37 @@ TEST(NodeStatusMonitor, Basic)
/*
* Empty NSM, no nodes were registered yet
*/
ASSERT_FALSE(nsm.findNodeWithWorstStatus().isValid());
ASSERT_FALSE(nsm.findNodeWithWorstHealth().isValid());
uavcan::NodeStatusMonitor::NodeStatus st = nsm.getNodeStatus(uavcan::NodeID(123));
ASSERT_FALSE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OFFLINE, st.status_code);
ASSERT_FALSE(nsm.isNodeKnown(uavcan::NodeID(123)));
ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(123)).mode);
/*
* Some new status messages
*/
publishNodeStatus(can, 10, NodeStatus::STATUS_OK, 12, 0);
publishNodeStatus(can, 10, NodeStatus::HEALTH_OK, NodeStatus::MODE_OPERATIONAL, 12, 0);
shortSpin(node);
ASSERT_EQ(NodeID(10), nsm.findNodeWithWorstStatus());
ASSERT_EQ(NodeID(10), nsm.findNodeWithWorstHealth());
publishNodeStatus(can, 9, NodeStatus::STATUS_INITIALIZING, 0, 0);
publishNodeStatus(can, 9, NodeStatus::HEALTH_WARNING, NodeStatus::MODE_INITIALIZATION, 0, 0);
shortSpin(node);
ASSERT_EQ(NodeID(9), nsm.findNodeWithWorstStatus());
ASSERT_EQ(NodeID(9), nsm.findNodeWithWorstHealth());
publishNodeStatus(can, 11, NodeStatus::STATUS_CRITICAL, 999, 0);
publishNodeStatus(can, 11, NodeStatus::HEALTH_CRITICAL, NodeStatus::MODE_MAINTENANCE, 999, 0);
shortSpin(node);
ASSERT_EQ(NodeID(11), nsm.findNodeWithWorstStatus());
ASSERT_EQ(NodeID(11), nsm.findNodeWithWorstHealth());
st = nsm.getNodeStatus(uavcan::NodeID(10));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OK, st.status_code);
ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(10)));
ASSERT_EQ(NodeStatus::MODE_OPERATIONAL, nsm.getNodeStatus(uavcan::NodeID(10)).mode);
ASSERT_EQ(NodeStatus::HEALTH_OK, nsm.getNodeStatus(uavcan::NodeID(10)).health);
st = nsm.getNodeStatus(uavcan::NodeID(9));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_INITIALIZING, st.status_code);
ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(9)));
ASSERT_EQ(NodeStatus::MODE_INITIALIZATION, nsm.getNodeStatus(uavcan::NodeID(9)).mode);
ASSERT_EQ(NodeStatus::HEALTH_WARNING, nsm.getNodeStatus(uavcan::NodeID(9)).health);
st = nsm.getNodeStatus(uavcan::NodeID(11));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_CRITICAL, st.status_code);
ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(11)));
ASSERT_EQ(NodeStatus::MODE_MAINTENANCE, nsm.getNodeStatus(uavcan::NodeID(11)).mode);
ASSERT_EQ(NodeStatus::HEALTH_CRITICAL, nsm.getNodeStatus(uavcan::NodeID(11)).health);
/*
* Timeout
@@ -86,21 +87,21 @@ TEST(NodeStatusMonitor, Basic)
clock_mock.advance(500000);
shortSpin(node);
st = nsm.getNodeStatus(uavcan::NodeID(10));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OK, st.status_code);
ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(10)));
ASSERT_EQ(NodeStatus::MODE_OPERATIONAL, nsm.getNodeStatus(uavcan::NodeID(10)).mode);
ASSERT_EQ(NodeStatus::HEALTH_OK, nsm.getNodeStatus(uavcan::NodeID(10)).health);
clock_mock.advance(500000);
shortSpin(node);
st = nsm.getNodeStatus(uavcan::NodeID(9));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_INITIALIZING, st.status_code);
ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(9)));
ASSERT_EQ(NodeStatus::MODE_INITIALIZATION, nsm.getNodeStatus(uavcan::NodeID(9)).mode);
ASSERT_EQ(NodeStatus::HEALTH_WARNING, nsm.getNodeStatus(uavcan::NodeID(9)).health);
clock_mock.advance(500000);
shortSpin(node);
st = nsm.getNodeStatus(uavcan::NodeID(11));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_CRITICAL, st.status_code);
ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(11)));
ASSERT_EQ(NodeStatus::MODE_MAINTENANCE, nsm.getNodeStatus(uavcan::NodeID(11)).mode);
ASSERT_EQ(NodeStatus::HEALTH_CRITICAL, nsm.getNodeStatus(uavcan::NodeID(11)).health);
/*
* Will timeout now
@@ -108,68 +109,68 @@ TEST(NodeStatusMonitor, Basic)
clock_mock.advance(4000000);
shortSpin(node);
st = nsm.getNodeStatus(uavcan::NodeID(10));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OFFLINE, st.status_code);
ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(10)));
ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(10)).mode);
ASSERT_EQ(NodeStatus::HEALTH_OK, nsm.getNodeStatus(uavcan::NodeID(10)).health);
st = nsm.getNodeStatus(uavcan::NodeID(9));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OFFLINE, st.status_code);
ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(9)));
ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(9)).mode);
ASSERT_EQ(NodeStatus::HEALTH_WARNING, nsm.getNodeStatus(uavcan::NodeID(9)).health);
st = nsm.getNodeStatus(uavcan::NodeID(11));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OFFLINE, st.status_code);
ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(11)));
ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(11)).mode);
ASSERT_EQ(NodeStatus::HEALTH_CRITICAL, nsm.getNodeStatus(uavcan::NodeID(11)).health);
/*
* Recovering one node, adding two extra
*/
publishNodeStatus(can, 11, NodeStatus::STATUS_WARNING, 999, 1);
publishNodeStatus(can, 11, NodeStatus::HEALTH_WARNING, NodeStatus::MODE_OPERATIONAL, 999, 1);
shortSpin(node);
publishNodeStatus(can, 127, NodeStatus::STATUS_WARNING, 9999, 1);
publishNodeStatus(can, 127, NodeStatus::HEALTH_WARNING, NodeStatus::MODE_OPERATIONAL, 9999, 1);
shortSpin(node);
publishNodeStatus(can, 1, NodeStatus::STATUS_OK, 1234, 1);
publishNodeStatus(can, 1, NodeStatus::HEALTH_OK, NodeStatus::MODE_OPERATIONAL, 1234, 1);
shortSpin(node);
/*
* Making sure OFFLINE is still worst status
*/
ASSERT_EQ(NodeID(9), nsm.findNodeWithWorstStatus());
ASSERT_EQ(NodeID(9), nsm.findNodeWithWorstHealth());
/*
* Final validation
*/
st = nsm.getNodeStatus(uavcan::NodeID(10));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OFFLINE, st.status_code);
ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(10)));
ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(10)).mode);
ASSERT_EQ(NodeStatus::HEALTH_OK, nsm.getNodeStatus(uavcan::NodeID(10)).health);
st = nsm.getNodeStatus(uavcan::NodeID(9));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OFFLINE, st.status_code);
ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(9)));
ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(9)).mode);
ASSERT_EQ(NodeStatus::HEALTH_WARNING, nsm.getNodeStatus(uavcan::NodeID(9)).health);
st = nsm.getNodeStatus(uavcan::NodeID(11));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_WARNING, st.status_code);
ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(11)));
ASSERT_EQ(NodeStatus::MODE_OPERATIONAL, nsm.getNodeStatus(uavcan::NodeID(11)).mode);
ASSERT_EQ(NodeStatus::HEALTH_WARNING, nsm.getNodeStatus(uavcan::NodeID(11)).health);
st = nsm.getNodeStatus(uavcan::NodeID(127));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_WARNING, st.status_code);
ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(127)));
ASSERT_EQ(NodeStatus::MODE_OPERATIONAL, nsm.getNodeStatus(uavcan::NodeID(127)).mode);
ASSERT_EQ(NodeStatus::HEALTH_WARNING, nsm.getNodeStatus(uavcan::NodeID(127)).health);
st = nsm.getNodeStatus(uavcan::NodeID(1));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OK, st.status_code);
ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(1)));
ASSERT_EQ(NodeStatus::MODE_OPERATIONAL, nsm.getNodeStatus(uavcan::NodeID(1)).mode);
ASSERT_EQ(NodeStatus::HEALTH_OK, nsm.getNodeStatus(uavcan::NodeID(1)).health);
/*
* Forgetting
*/
nsm.forgetNode(127);
st = nsm.getNodeStatus(uavcan::NodeID(127));
ASSERT_FALSE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OFFLINE, st.status_code);
ASSERT_FALSE(nsm.isNodeKnown(uavcan::NodeID(127)));
ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(127)).mode);
ASSERT_EQ(NodeStatus::HEALTH_OK, nsm.getNodeStatus(uavcan::NodeID(127)).health);
nsm.forgetNode(9);
st = nsm.getNodeStatus(uavcan::NodeID(9));
ASSERT_FALSE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OFFLINE, st.status_code);
ASSERT_FALSE(nsm.isNodeKnown(uavcan::NodeID(9)));
ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(9)).mode);
ASSERT_EQ(NodeStatus::HEALTH_OK, nsm.getNodeStatus(uavcan::NodeID(9)).health);
}