PanicListener

libuavcan/test/protocol/panic_listener.cpp

@@ -0,0 +1,52 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/protocol/panic_listener.hpp>
+#include <uavcan/protocol/panic_broadcaster.hpp>
+#include "helpers.hpp"
+
+
+struct PanicHandler
+{
+    uavcan::protocol::Panic msg;
+
+    PanicHandler() : msg() { }
+
+    void handle(const uavcan::protocol::Panic& msg)
+    {
+        std::cout << msg << std::endl;
+        this->msg = msg;
+    }
+
+    typedef uavcan::MethodBinder<PanicHandler*, void (PanicHandler::*)(const uavcan::protocol::Panic& msg)> Binder;
+
+    Binder bind() { return Binder(this, &PanicHandler::handle); }
+};
+
+
+TEST(PanicListener, Basic)
+{
+    InterlinkedTestNodes nodes;
+
+    uavcan::PanicListener<PanicHandler::Binder> pl(nodes.a);
+    uavcan::PanicBroadcaster pbr(nodes.b);
+    PanicHandler handler;
+    ASSERT_LE(0, pl.start(handler.bind()));
+
+    pbr.panic("PANIC!!!");
+    ASSERT_TRUE(handler.msg == uavcan::protocol::Panic()); // One message published, panic is not registered yet
+
+    pbr.dontPanic();
+    ASSERT_FALSE(pbr.isPanicking());
+    std::cout << "Not panicking" << std::endl;
+
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000)); // Will reset
+    ASSERT_TRUE(handler.msg == uavcan::protocol::Panic());
+
+    pbr.panic("PANIC2!!!");     // Message text doesn't matter
+    ASSERT_TRUE(pbr.isPanicking());
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000));
+    ASSERT_STREQ("PANIC2!", handler.msg.reason_text.c_str()); // Registered, only 7 chars preserved
+}