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Frame tests fixed, 8 to go

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This commit is contained in:
Pavel Kirienko 2015-07-03 08:15:53 +03:00
parent 2d6fc2a5bd
commit 445f3c4003
2 changed files with 27 additions and 11 deletions
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1
libuavcan/src/transport/uc_frame.cpp
View File

@ -223,6 +223,7 @@ bool Frame::isValid() const
if (src_node_id_.isBroadcast() &&
(!start_of_transfer_ || !end_of_transfer_ || (transfer_type_ != TransferTypeMessageBroadcast)))
{
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
return false;
}

37
libuavcan/test/transport/frame.cpp
View File

@ -70,7 +70,12 @@ TEST(Frame, MessageParseCompile)
EXPECT_EQ(payload_string.length(), can_frame.dlc);
std::cout << can_frame.toString() << std::endl;
EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc, payload_string.begin()));
/*
* FUN FACT: comparison of uint8_t with char may fail on the character 0xD4 (depending on the locale),
* because it will be considered a Unicode character. Hence, we do reinterpret_cast<>.
*/
EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc,
reinterpret_cast<const uint8_t*>(&payload_string[0])));
/*
* Comparison
@ -132,7 +137,7 @@ TEST(Frame, ServiceParseCompile)
EXPECT_EQ(payload_string.length(), frame.getPayloadLen() + 1);
EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
payload_string.begin() + 1));
reinterpret_cast<const uint8_t*>(&payload_string[0])));
std::cout << frame.toString() << std::endl;
@ -146,7 +151,8 @@ TEST(Frame, ServiceParseCompile)
ASSERT_EQ(can_frame, makeCanFrame(can_id, payload_string, EXT));
EXPECT_EQ(payload_string.length(), can_frame.dlc);
EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc, payload_string.begin()));
EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc,
reinterpret_cast<const uint8_t*>(&payload_string[0])));
/*
* Comparison
@ -179,7 +185,7 @@ TEST(Frame, AnonymousParseCompile)
(16383 << 10) | // Discriminator
(1 << 8); // Message Type ID
const std::string payload_string = "hello\x94"; // SET = 100, TID = 20
const std::string payload_string = "hello\xd4"; // SET = 110, TID = 20
uavcan::TransferCRC payload_crc;
payload_crc.add(reinterpret_cast<const uint8_t*>(payload_string.c_str()), unsigned(payload_string.length()));
@ -189,9 +195,9 @@ TEST(Frame, AnonymousParseCompile)
*/
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
EXPECT_EQ(TransferID(0), frame.getTransferID());
EXPECT_EQ(TransferID(20), frame.getTransferID());
EXPECT_TRUE(frame.isStartOfTransfer());
EXPECT_FALSE(frame.isEndOfTransfer());
EXPECT_TRUE(frame.isEndOfTransfer());
EXPECT_FALSE(frame.getToggle());
EXPECT_TRUE(frame.getSrcNodeID().isBroadcast());
EXPECT_TRUE(frame.getDstNodeID().isBroadcast());
@ -199,9 +205,9 @@ TEST(Frame, AnonymousParseCompile)
EXPECT_EQ(1, frame.getDataTypeID().get());
EXPECT_EQ(0, frame.getPriority().get());
EXPECT_EQ(payload_string.length(), frame.getPayloadLen());
EXPECT_EQ(payload_string.length() - 1, frame.getPayloadLen());
EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
payload_string.begin()));
reinterpret_cast<const uint8_t*>(&payload_string[0])));
std::cout << frame.toString() << std::endl;
@ -219,7 +225,8 @@ TEST(Frame, AnonymousParseCompile)
can_frame.id & NoDiscriminatorMask & uavcan::CanFrame::MaskExtID);
EXPECT_EQ(payload_string.length(), can_frame.dlc);
EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc, payload_string.begin()));
EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc,
reinterpret_cast<const uint8_t*>(&payload_string[0])));
EXPECT_EQ((can_frame.id & DiscriminatorMask & uavcan::CanFrame::MaskExtID) >> 10, payload_crc.get() & 16383);
@ -275,7 +282,10 @@ TEST(Frame, FrameParsing)
(0 << 7) |
(42 << 0);
can.data[7] = 0xc0; // SET=110, TID=0
can.data[7] = 0xcf; // SET=110, TID=0
ASSERT_FALSE(frame.parse(can));
can.dlc = 8;
ASSERT_TRUE(frame.parse(can));
EXPECT_TRUE(frame.isStartOfTransfer());
@ -285,7 +295,7 @@ TEST(Frame, FrameParsing)
ASSERT_EQ(NodeID(42), frame.getSrcNodeID());
ASSERT_EQ(NodeID::Broadcast, frame.getDstNodeID());
ASSERT_EQ(456, frame.getDataTypeID().get());
ASSERT_EQ(TransferID(2), frame.getTransferID());
ASSERT_EQ(TransferID(15), frame.getTransferID());
ASSERT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
// TODO: test service frames
@ -314,6 +324,11 @@ TEST(Frame, RxFrameParse)
(0 << 7) |
(42 << 0);
ASSERT_FALSE(rx_frame.parse(can_rx_frame));
can_rx_frame.data[0] = 0xc0; // SOT, EOT
can_rx_frame.dlc = 1;
ASSERT_TRUE(rx_frame.parse(can_rx_frame));
ASSERT_EQ(1, rx_frame.getMonotonicTimestamp().toUSec());
ASSERT_EQ(0, rx_frame.getIfaceIndex());