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DynamicNodeIDClient test fix

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This commit is contained in:
Pavel Kirienko
2015-07-04 12:07:05 +03:00
parent 10877089d8
commit 31c6116345
1 changed files with 5 additions and 9 deletions
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libuavcan/test/protocol/dynamic_node_id_client.cpp
+5 -9
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@@ -47,9 +47,9 @@ TEST(DynamicNodeIDClient, Basic)
dynid_sub.subscriber.allowAnonymousTransfers();
/*
* Monitoring requests at 1Hz
* Monitoring requests
*/
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1100));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1500));
ASSERT_TRUE(dynid_sub.collector.msg.get());
std::cout << "First-stage request:\n" << *dynid_sub.collector.msg << std::endl;
ASSERT_EQ(PreferredNodeID.get(), dynid_sub.collector.msg->node_id);
@@ -59,12 +59,8 @@ TEST(DynamicNodeIDClient, Basic)
hwver.unique_id.begin()));
dynid_sub.collector.msg.reset();
// Rate validation
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(500));
ASSERT_FALSE(dynid_sub.collector.msg.get());
// Second - rate is 1 Hz
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(500));
// Second - rate is no lower than 0.5 Hz
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1500));
ASSERT_TRUE(dynid_sub.collector.msg.get());
dynid_sub.collector.msg.reset();
@@ -153,7 +149,7 @@ TEST(DynamicNodeIDClient, Basic)
ASSERT_FALSE(dynid_sub.collector.msg.get());
ASSERT_LE(0, dynid_pub.broadcast(msg));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1100));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2000));
ASSERT_FALSE(dynid_sub.collector.msg.get());
}