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ParamServer test update

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This commit is contained in:
Pavel Kirienko
2015-07-11 07:37:16 +03:00
parent 7a8260b191
commit 427b473f3f
1 changed files with 21 additions and 23 deletions
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libuavcan/test/protocol/param_server.cpp
+21 -23
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@@ -32,21 +32,25 @@ struct ParamServerTestManager : public uavcan::IParamManager
KeyValue::iterator it = kv.find(name.c_str());
if (it != kv.end())
{
if (!value.value_bool.empty())
if (value.is<bool>())
{
it->second = double(value.value_bool[0]);
assert(value.getTag() == Value::Tag::boolean_value);
it->second = double(value.boolean_value);
}
else if (!value.value_int.empty())
else if (value.is<Value::FieldTypes::integer_value>())
{
it->second = double(value.value_int[0]);
assert(value.getTag() == Value::Tag::integer_value);
it->second = double(value.integer_value);
}
else if (!value.value_float.empty())
else if (value.is<float>())
{
it->second = double(value.value_float[0]);
assert(value.getTag() == Value::Tag::real_value);
it->second = double(value.real_value);
}
else if (!value.value_string.empty())
else if (value.is<Value::FieldTypes::string_value>())
{
it->second = std::atof(value.value_string[0].value.c_str());
assert(value.getTag() == Value::Tag::string_value);
it->second = std::atof(value.string_value.c_str());
}
else
{
@@ -61,7 +65,8 @@ struct ParamServerTestManager : public uavcan::IParamManager
KeyValue::const_iterator it = kv.find(name.c_str());
if (it != kv.end())
{
out_value.value_float.push_back(float(it->second));
out_value = float(it->second);
assert(out_value.getTag() == Value::Tag::real_value);
}
std::cout << "READ [" << name.c_str() << "]\n" << out_value << "\n---" << std::endl;
}
@@ -136,12 +141,10 @@ TEST(ParamServer, Basic)
// No such variable, shall return empty name/value
get_set_rq.index = 0;
get_set_rq.name.clear();
get_set_rq.value.value_int.push_back(0xDEADBEEF);
get_set_rq.value = uavcan::int64_t(0xDEADBEEF);
doCall(get_set_cln, get_set_rq, nodes);
ASSERT_TRUE(get_set_cln.collector.result->getResponse().name.empty());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().value.value_bool.empty());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().value.value_int.empty());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().value.value_float.empty());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().value.is<uavcan::protocol::param::Empty>());
mgr.kv["foobar"] = 123.456; // New param
@@ -150,26 +153,21 @@ TEST(ParamServer, Basic)
get_set_rq.name = "foobar";
doCall(get_set_cln, get_set_rq, nodes);
ASSERT_STREQ("foobar", get_set_cln.collector.result->getResponse().name.c_str());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().value.value_bool.empty());
ASSERT_TRUE(get_set_cln.collector.result->getResponse().value.value_int.empty());
ASSERT_FLOAT_EQ(123.456F, get_set_cln.collector.result->getResponse().value.value_float[0]);
ASSERT_TRUE(get_set_cln.collector.result->getResponse().value.is<float>());
ASSERT_FLOAT_EQ(123.456F, get_set_cln.collector.result->getResponse().value.to<float>());
// Set by index
get_set_rq = uavcan::protocol::param::GetSet::Request();
get_set_rq.index = 0;
{
uavcan::protocol::param::String str;
str.value = "424242";
get_set_rq.value.value_string.push_back(str);
}
get_set_rq.value = uavcan::protocol::param::Value::FieldTypes::string_value("424242");
doCall(get_set_cln, get_set_rq, nodes);
ASSERT_STREQ("foobar", get_set_cln.collector.result->getResponse().name.c_str());
ASSERT_FLOAT_EQ(424242, get_set_cln.collector.result->getResponse().value.value_float[0]);
ASSERT_FLOAT_EQ(424242, get_set_cln.collector.result->getResponse().value.to<float>());
// Get by index
get_set_rq = uavcan::protocol::param::GetSet::Request();
get_set_rq.index = 0;
doCall(get_set_cln, get_set_rq, nodes);
ASSERT_STREQ("foobar", get_set_cln.collector.result->getResponse().name.c_str());
ASSERT_FLOAT_EQ(424242, get_set_cln.collector.result->getResponse().value.value_float[0]);
ASSERT_FLOAT_EQ(424242, get_set_cln.collector.result->getResponse().value.to<float>());
}