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CATS and network compatibility checker removed

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This commit is contained in:
Pavel Kirienko
2015-07-05 07:07:59 +03:00
parent 4f0c448723
commit 36a7c7e7a9
18 changed files with 8 additions and 757 deletions
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libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp
-1
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@@ -7,7 +7,6 @@
#include <uavcan/helpers/ostream.hpp>
#include <uavcan/Timestamp.hpp>
#include <uavcan/protocol/ComputeAggregateTypeSignature.hpp>
#include <uavcan/protocol/GetTransportStats.hpp>
#include <uavcan/protocol/Panic.hpp>
#include <uavcan/protocol/RestartNode.hpp>
libuavcan/test/node/global_data_type_registry.cpp
-111
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@@ -61,7 +61,6 @@ uavcan::DataTypeDescriptor extractDescriptor(uint16_t dtid = Type::DefaultDataTy
TEST(GlobalDataTypeRegistry, Basic)
{
using uavcan::GlobalDataTypeRegistry;
using uavcan::DataTypeIDMask;
using uavcan::DataTypeSignature;
GlobalDataTypeRegistry::instance().reset();
@@ -69,14 +68,6 @@ TEST(GlobalDataTypeRegistry, Basic)
ASSERT_EQ(0, GlobalDataTypeRegistry::instance().getNumMessageTypes());
ASSERT_EQ(0, GlobalDataTypeRegistry::instance().getNumServiceTypes());
DataTypeIDMask dtmask;
dtmask.set();
GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindMessage, dtmask);
ASSERT_FALSE(dtmask.any());
dtmask.set();
GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindService, dtmask);
ASSERT_FALSE(dtmask.any());
/*
* Static registrations
*/
@@ -86,12 +77,6 @@ TEST(GlobalDataTypeRegistry, Basic)
ASSERT_EQ(2, GlobalDataTypeRegistry::instance().getNumMessageTypes());
ASSERT_EQ(0, GlobalDataTypeRegistry::instance().getNumServiceTypes());
GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindMessage, dtmask);
ASSERT_TRUE(dtmask[0]);
ASSERT_TRUE(dtmask[42]);
dtmask[0] = dtmask[42] = false;
ASSERT_FALSE(dtmask.any());
/*
* Runtime registrations
*/
@@ -102,11 +87,6 @@ TEST(GlobalDataTypeRegistry, Basic)
ASSERT_EQ(2, GlobalDataTypeRegistry::instance().getNumMessageTypes());
ASSERT_EQ(1, GlobalDataTypeRegistry::instance().getNumServiceTypes());
GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindService, dtmask);
ASSERT_TRUE(dtmask[0]);
dtmask[0] = false;
ASSERT_FALSE(dtmask.any());
/*
* Runtime re-registration
*/
@@ -118,17 +98,6 @@ TEST(GlobalDataTypeRegistry, Basic)
ASSERT_EQ(2, GlobalDataTypeRegistry::instance().getNumMessageTypes());
ASSERT_EQ(1, GlobalDataTypeRegistry::instance().getNumServiceTypes());
GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindMessage, dtmask);
ASSERT_TRUE(dtmask[0]);
ASSERT_TRUE(dtmask[741]);
dtmask[0] = dtmask[741] = false;
ASSERT_FALSE(dtmask.any());
GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindService, dtmask);
ASSERT_TRUE(dtmask[147]);
dtmask[147] = false;
ASSERT_FALSE(dtmask.any());
/*
* These types will be necessary for the aggregate signature test
*/
@@ -139,19 +108,6 @@ TEST(GlobalDataTypeRegistry, Basic)
GlobalDataTypeRegistry::instance().registerDataType<DataTypeC>(DataTypeC::DefaultDataTypeID));
uavcan::DefaultDataTypeRegistrator<DataTypeD> reg_DataTypeD;
GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindMessage, dtmask);
ASSERT_TRUE(dtmask[0]);
ASSERT_TRUE(dtmask[741]);
ASSERT_TRUE(dtmask[1023]);
dtmask[0] = dtmask[1023] = dtmask[741] = false;
ASSERT_FALSE(dtmask.any());
GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindService, dtmask);
ASSERT_TRUE(dtmask[147]);
ASSERT_TRUE(dtmask[43]);
dtmask[43] = dtmask[147] = false;
ASSERT_FALSE(dtmask.any());
/*
* Frozen state
*/
@@ -199,73 +155,6 @@ TEST(GlobalDataTypeRegistry, Basic)
}
TEST(GlobalDataTypeRegistry, AggregateSignature)
{
using uavcan::GlobalDataTypeRegistry;
using uavcan::DataTypeIDMask;
using uavcan::DataTypeSignature;
ASSERT_TRUE(GlobalDataTypeRegistry::instance().isFrozen());
DataTypeIDMask mask;
DataTypeSignature sign;
// Zero - empty mask
sign = GlobalDataTypeRegistry::instance().computeAggregateSignature(uavcan::DataTypeKindMessage, mask);
ASSERT_EQ(DataTypeSignature(), sign);
ASSERT_FALSE(mask.any());
// All set
mask.set();
sign = GlobalDataTypeRegistry::instance().computeAggregateSignature(uavcan::DataTypeKindMessage, mask);
ASSERT_TRUE(mask[0]); // DataTypeAMessage
ASSERT_TRUE(mask[741]); // DataTypeB
ASSERT_TRUE(mask[1023]); // DataTypeC
mask[0] = mask[741] = mask[1023] = false;
ASSERT_FALSE(mask.any());
{
DataTypeSignature check_signature(DataTypeAMessage::getDataTypeSignature()); // Order matters - low --> high
check_signature.extend(DataTypeB::getDataTypeSignature());
check_signature.extend(DataTypeC::getDataTypeSignature());
ASSERT_EQ(check_signature, sign);
}
mask.set();
sign = GlobalDataTypeRegistry::instance().computeAggregateSignature(uavcan::DataTypeKindService, mask);
ASSERT_TRUE(mask[43]); // DataTypeD
ASSERT_TRUE(mask[147]); // DataTypeAService
mask[43] = mask[147] = false;
ASSERT_FALSE(mask.any());
{
DataTypeSignature check_signature(DataTypeD::getDataTypeSignature());
check_signature.extend(DataTypeAService::getDataTypeSignature());
ASSERT_EQ(check_signature, sign);
}
// Random
mask[0] = mask[99] = mask[147] = mask[741] = mask[999] = mask[1022] = true;
sign = GlobalDataTypeRegistry::instance().computeAggregateSignature(uavcan::DataTypeKindMessage, mask);
ASSERT_TRUE(mask[0]); // DataTypeAMessage
ASSERT_TRUE(mask[741]); // DataTypeB
mask[0] = mask[741] = false;
ASSERT_FALSE(mask.any());
{
DataTypeSignature check_signature(DataTypeAMessage::getDataTypeSignature()); // Order matters - low --> high
check_signature.extend(DataTypeB::getDataTypeSignature());
ASSERT_EQ(check_signature, sign);
}
// One
mask[1] = mask[43] = true;
sign = GlobalDataTypeRegistry::instance().computeAggregateSignature(uavcan::DataTypeKindService, mask);
ASSERT_TRUE(mask[43]); // DataTypeD
mask[43] = false;
ASSERT_FALSE(mask.any());
ASSERT_EQ(DataTypeD::getDataTypeSignature(), sign);
}
TEST(GlobalDataTypeRegistry, Reset)
{
using uavcan::GlobalDataTypeRegistry;
libuavcan/test/node/node.cpp
+2 -7
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@@ -14,7 +14,6 @@ static void registerTypes()
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GlobalDiscoveryRequest> _reg1;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg2;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::ComputeAggregateTypeSignature> _reg3;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg4;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetDataTypeInfo> _reg5;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::debug::LogMessage> _reg6;
@@ -59,11 +58,7 @@ TEST(Node, Basic)
/*
* Init the second node - network is empty
*/
uavcan::NetworkCompatibilityCheckResult result;
ASSERT_LE(0, node2.start());
ASSERT_LE(0, node2.checkNetworkCompatibility(result));
ASSERT_TRUE(result.isOk());
ASSERT_FALSE(node_status_monitor.findNodeWithWorstStatus().isValid());
/*
@@ -72,10 +67,10 @@ TEST(Node, Basic)
ASSERT_FALSE(node1.isStarted());
ASSERT_EQ(-uavcan::ErrNotInited, node1.spin(uavcan::MonotonicDuration::fromMSec(20)));
ASSERT_LE(0, node1.start());
ASSERT_LE(0, node1.checkNetworkCompatibility(result));
ASSERT_TRUE(result.isOk());
ASSERT_TRUE(node1.isStarted());
ASSERT_LE(0, node1.spin(uavcan::MonotonicDuration::fromMSec(2000)));
ASSERT_EQ(1, node_status_monitor.findNodeWithWorstStatus().get());
/*
libuavcan/test/node/service_client.cpp
-10
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@@ -6,7 +6,6 @@
#include <uavcan/node/service_client.hpp>
#include <uavcan/node/service_server.hpp>
#include <uavcan/util/method_binder.hpp>
#include <uavcan/protocol/ComputeAggregateTypeSignature.hpp>
#include <uavcan/protocol/RestartNode.hpp>
#include <uavcan/protocol/GetDataTypeInfo.hpp>
#include <root_ns_a/StringService.hpp>
@@ -444,15 +443,6 @@ TEST(ServiceClient, Sizes)
{
using namespace uavcan;
std::cout << "ComputeAggregateTypeSignature server: " <<
sizeof(ServiceServer<protocol::ComputeAggregateTypeSignature>) << std::endl;
std::cout << "ComputeAggregateTypeSignature client: " <<
sizeof(ServiceClient<protocol::ComputeAggregateTypeSignature>) << std::endl;
std::cout << "ComputeAggregateTypeSignature request data struct: " <<
sizeof(protocol::ComputeAggregateTypeSignature::Request) << std::endl;
std::cout << "GetDataTypeInfo server: " <<
sizeof(ServiceServer<protocol::GetDataTypeInfo>) << std::endl;
libuavcan/test/node/sub_node.cpp
+2 -4
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@@ -14,7 +14,6 @@ static void registerTypes()
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GlobalDiscoveryRequest> _reg1;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg2;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::ComputeAggregateTypeSignature> _reg3;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg4;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetDataTypeInfo> _reg5;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::debug::LogMessage> _reg6;
@@ -59,11 +58,10 @@ TEST(SubNode, Basic)
ASSERT_FALSE(node1.isStarted());
ASSERT_EQ(-uavcan::ErrNotInited, node1.spin(uavcan::MonotonicDuration::fromMSec(20)));
ASSERT_LE(0, node1.start());
uavcan::NetworkCompatibilityCheckResult result;
ASSERT_LE(0, node1.checkNetworkCompatibility(result));
ASSERT_TRUE(result.isOk());
ASSERT_TRUE(node1.isStarted());
ASSERT_LE(0, node1.spin(uavcan::MonotonicDuration::fromMSec(2000)));
ASSERT_EQ(1, node_status_monitor.findNodeWithWorstStatus().get());
/*
libuavcan/test/protocol/data_type_info_provider.cpp
-1
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@@ -9,7 +9,6 @@
#include "helpers.hpp"
using uavcan::protocol::GetDataTypeInfo;
using uavcan::protocol::ComputeAggregateTypeSignature;
using uavcan::protocol::NodeStatus;
using uavcan::protocol::DataTypeKind;
using uavcan::ServiceCallResult;
libuavcan/test/protocol/network_compat_checker.cpp
-124
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@@ -1,124 +0,0 @@
/*
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <gtest/gtest.h>
#include <uavcan/protocol/network_compat_checker.hpp>
#include <uavcan/protocol/node_status_provider.hpp>
#include <uavcan/protocol/data_type_info_provider.hpp>
#include <uavcan/protocol/GlobalDiscoveryRequest.hpp>
#include <memory>
#include "helpers.hpp"
static void registerTypes()
{
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GlobalDiscoveryRequest> _reg1;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg2;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::ComputeAggregateTypeSignature> _reg3;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg4;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetDataTypeInfo> _reg5;
}
struct NetworkCompatibilityCheckerRemoteContext
{
uavcan::NodeStatusProvider node_status_provider;
uavcan::DataTypeInfoProvider data_type_info_provider;
NetworkCompatibilityCheckerRemoteContext(uavcan::INode& node)
: node_status_provider(node)
, data_type_info_provider(node)
{
node_status_provider.setName("com.example");
uavcan::protocol::SoftwareVersion swver;
swver.vcs_commit = 1;
node_status_provider.setSoftwareVersion(swver);
}
void start()
{
ASSERT_LE(0, node_status_provider.startAndPublish());
ASSERT_LE(0, data_type_info_provider.start());
}
};
TEST(NetworkCompatibilityChecker, Size)
{
// Objects are subject for stack allocation, hence the size matters
std::cout << "sizeof(uavcan::NetworkCompatibilityChecker): "
<< sizeof(uavcan::NetworkCompatibilityChecker) << std::endl;
ASSERT_TRUE(sizeof(uavcan::NetworkCompatibilityChecker) < 2048);
}
TEST(NetworkCompatibilityChecker, EmptyNetwork)
{
registerTypes();
InterlinkedTestNodesWithSysClock nodes;
ASSERT_LE(0, uavcan::NetworkCompatibilityChecker::publishGlobalDiscoveryRequest(nodes.a));
uavcan::NetworkCompatibilityChecker ni(nodes.a);
ASSERT_LE(0, ni.execute());
ASSERT_TRUE(ni.getResult().isOk());
}
TEST(NetworkCompatibilityChecker, Success)
{
registerTypes();
InterlinkedTestNodesWithSysClock nodes;
NetworkCompatibilityCheckerRemoteContext remote(nodes.b);
remote.start();
BackgroundSpinner bgspinner(nodes.b, nodes.a);
bgspinner.startPeriodic(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_LE(0, uavcan::NetworkCompatibilityChecker::publishGlobalDiscoveryRequest(nodes.a));
uavcan::NetworkCompatibilityChecker ni(nodes.a);
ASSERT_LE(0, ni.execute());
ASSERT_TRUE(ni.getResult().isOk());
}
TEST(NetworkCompatibilityChecker, RequestTimeout)
{
registerTypes();
InterlinkedTestNodesWithSysClock nodes;
NetworkCompatibilityCheckerRemoteContext remote(nodes.b);
remote.start();
ASSERT_LE(0, uavcan::NetworkCompatibilityChecker::publishGlobalDiscoveryRequest(nodes.a));
uavcan::NetworkCompatibilityChecker ni(nodes.a);
// There is no background spinner, so CATS request will time out
// Despite the time out, the checker will not report failure
ASSERT_EQ(0, ni.execute());
// The one (and only) node has failed
ASSERT_EQ(1, ni.getResult().num_failed_nodes);
ASSERT_TRUE(ni.getResult().isOk());
}
TEST(NetworkCompatibilityChecker, NodeIDCollision)
{
registerTypes();
InterlinkedTestNodesWithSysClock nodes(8, 8); // Same NID
NetworkCompatibilityCheckerRemoteContext remote(nodes.b);
remote.start();
BackgroundSpinner bgspinner(nodes.b, nodes.a);
bgspinner.startPeriodic(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_LE(0, uavcan::NetworkCompatibilityChecker::publishGlobalDiscoveryRequest(nodes.a));
uavcan::NetworkCompatibilityChecker ni(nodes.a);
ASSERT_LE(0, ni.execute());
ASSERT_FALSE(ni.getResult().isOk());
ASSERT_EQ(8, ni.getResult().conflicting_node.get());
}