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NodeInfoRetriever basic test

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This commit is contained in:
Pavel Kirienko 2015-05-17 13:49:40 +03:00
parent 2123853cae
commit 36dda9c017
2 changed files with 81 additions and 4 deletions
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15
libuavcan/include/uavcan/protocol/node_info_retriever.hpp
View File

@ -172,6 +172,8 @@ private:
if (!TimerBase::isRunning())
{
TimerBase::startPeriodic(getTimerPollInterval());
UAVCAN_TRACE("NodeInfoRetriever", "Timer started, interval %ld ms",
static_cast<long>(getTimerPollInterval().toMSec()));
}
}
@ -230,6 +232,7 @@ private:
if (!requests_needed)
{
TimerBase::stop();
UAVCAN_TRACE("NodeInfoRetriever", "Timer stopped");
}
}
}
@ -398,6 +401,18 @@ public:
{
max_concurrent_requests_ = max(static_cast<uint8_t>(1), num);
}
/**
* These methods are needed mostly for testing.
*/
bool isRetrievingInProgress() const { return TimerBase::isRunning(); }
uint8_t getNumPendingRequests() const
{
const unsigned num = get_node_info_client_.getNumPendingCalls();
UAVCAN_ASSERT(num <= 0xFF);
return static_cast<uint8_t>(num);
}
};
}

70
libuavcan/test/protocol/node_info_retriever.cpp
View File

@ -54,7 +54,8 @@ struct NodeInfoListener : public uavcan::INodeInfoListener
virtual void handleNodeStatusChange(const uavcan::NodeStatusMonitor::NodeStatusChangeEvent& event)
{
(void)event;
std::cout << "NODE " << int(event.node_id.get()) << " STATUS CHANGE: "
<< int(event.old_status.status_code) << " --> " << int(event.status.status_code) << std::endl;
status_change_cnt++;
}
@ -102,10 +103,16 @@ TEST(NodeInfoRetriever, Basic)
ASSERT_LE(0, provider->startAndPublish());
ASSERT_FALSE(retr.isRetrievingInProgress());
ASSERT_EQ(0, retr.getNumPendingRequests());
/*
* Waiting for discovery
*/
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1600));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(50));
ASSERT_TRUE(retr.isRetrievingInProgress());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1500));
ASSERT_FALSE(retr.isRetrievingInProgress());
ASSERT_EQ(2, listener.status_message_cnt);
ASSERT_EQ(1, listener.status_change_cnt);
@ -120,6 +127,8 @@ TEST(NodeInfoRetriever, Basic)
/*
* Declaring a bunch of different nodes that don't support GetNodeInfo
*/
ASSERT_FALSE(retr.isRetrievingInProgress());
retr.setNumRequestAttempts(3);
uavcan::TransferID tid;
@ -128,12 +137,65 @@ TEST(NodeInfoRetriever, Basic)
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 10, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 10, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2100));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
ASSERT_EQ(1, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
ASSERT_EQ(2, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
ASSERT_EQ(3, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000));
ASSERT_TRUE(retr.isRetrievingInProgress());
tid.increment();
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 0, 11, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 11, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 11, tid);
// TODO finish the test when the logic is fixed
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
ASSERT_EQ(1, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
ASSERT_EQ(2, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
ASSERT_EQ(3, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000));
ASSERT_TRUE(retr.isRetrievingInProgress());
tid.increment();
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 0, 12, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 12, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 10, tid); // Reset
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
ASSERT_EQ(1, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
ASSERT_EQ(2, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
ASSERT_EQ(3, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000));
ASSERT_TRUE(retr.isRetrievingInProgress());
EXPECT_EQ(11, listener.status_message_cnt);
EXPECT_EQ(5, listener.status_change_cnt); // node 2 online/offline + 3 test nodes above
EXPECT_EQ(2, listener.info_unavailable_cnt);
tid.increment();
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 11, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
ASSERT_EQ(1, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
ASSERT_EQ(1, retr.getNumPendingRequests()); // Still one because two went offline
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1200));
ASSERT_TRUE(retr.isRetrievingInProgress());
tid.increment();
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 12, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1200));
ASSERT_FALSE(retr.isRetrievingInProgress()); // Out of attempts, stopping
ASSERT_EQ(0, retr.getNumPendingRequests());
EXPECT_EQ(13, listener.status_message_cnt);
EXPECT_EQ(7, listener.status_change_cnt); // node 2 online/offline + 2 test nodes above online/offline + 1
EXPECT_EQ(3, listener.info_unavailable_cnt);
}