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This commit is contained in:
Pavel Kirienko
2014-02-19 17:55:18 +04:00
parent 195dca3696
commit 4f49d61de6
21 changed files with 120 additions and 142 deletions
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libuavcan/test/map.cpp
+1 -1
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@@ -35,7 +35,7 @@ TEST(Map, Basic)
poolmgr.addPool(&pool);
typedef Map<std::string, std::string, 2> MapType;
std::auto_ptr<MapType> map(new MapType(&poolmgr));
std::auto_ptr<MapType> map(new MapType(poolmgr));
// Empty
ASSERT_FALSE(map->access("hi"));
libuavcan/test/transport/can/io.cpp
+2 -2
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@@ -31,7 +31,7 @@ TEST(CanIOManager, Reception)
CanDriverMock driver(2, clockmock);
// IO Manager
uavcan::CanIOManager iomgr(&driver, &poolmgr, &clockmock);
uavcan::CanIOManager iomgr(driver, poolmgr, clockmock);
ASSERT_EQ(2, iomgr.getNumIfaces());
/*
@@ -115,7 +115,7 @@ TEST(CanIOManager, Transmission)
CanDriverMock driver(2, clockmock);
// IO Manager
CanIOManager iomgr(&driver, &poolmgr, &clockmock);
CanIOManager iomgr(driver, poolmgr, clockmock);
ASSERT_EQ(2, iomgr.getNumIfaces());
const int ALL_IFACES_MASK = 3;
libuavcan/test/transport/dispatcher.cpp
+12 -12
View File
@@ -41,9 +41,9 @@ TEST(Dispatcher, Reception)
SystemClockMock clockmock(100);
CanDriverMock driver(2, clockmock);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(&poolmgr);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Dispatcher dispatcher(&driver, &poolmgr, &clockmock, &out_trans_reg, SELF_NODE_ID);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg, SELF_NODE_ID);
DispatcherTransferEmulator emulator(driver, SELF_NODE_ID);
@@ -63,12 +63,12 @@ TEST(Dispatcher, Reception)
static const int NUM_SUBSCRIBERS = 6;
SubscriberPtr subscribers[NUM_SUBSCRIBERS] =
{
SubscriberPtr(new Subscriber(TYPES + 0, &poolmgr)), // msg
SubscriberPtr(new Subscriber(TYPES + 0, &poolmgr)), // msg // Two similar, yes
SubscriberPtr(new Subscriber(TYPES + 1, &poolmgr)), // msg
SubscriberPtr(new Subscriber(TYPES + 2, &poolmgr)), // srv
SubscriberPtr(new Subscriber(TYPES + 3, &poolmgr)), // srv
SubscriberPtr(new Subscriber(TYPES + 3, &poolmgr)) // srv // Repeat again
SubscriberPtr(new Subscriber(TYPES[0], poolmgr)), // msg
SubscriberPtr(new Subscriber(TYPES[0], poolmgr)), // msg // Two similar, yes
SubscriberPtr(new Subscriber(TYPES[1], poolmgr)), // msg
SubscriberPtr(new Subscriber(TYPES[2], poolmgr)), // srv
SubscriberPtr(new Subscriber(TYPES[3], poolmgr)), // srv
SubscriberPtr(new Subscriber(TYPES[3], poolmgr)) // srv // Repeat again
};
static const std::string DATA[6] =
@@ -190,9 +190,9 @@ TEST(Dispatcher, Transmission)
SystemClockMock clockmock(100);
CanDriverMock driver(2, clockmock);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(&poolmgr);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Dispatcher dispatcher(&driver, &poolmgr, &clockmock, &out_trans_reg, SELF_NODE_ID);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg, SELF_NODE_ID);
/*
* Transmission
@@ -227,9 +227,9 @@ TEST(Dispatcher, Spin)
SystemClockMock clockmock(100);
CanDriverMock driver(2, clockmock);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(&poolmgr);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Dispatcher dispatcher(&driver, &poolmgr, &clockmock, &out_trans_reg, SELF_NODE_ID);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg, SELF_NODE_ID);
clockmock.monotonic_auto_advance = 100;
libuavcan/test/transport/incoming_transfer.cpp
+2 -2
View File
@@ -69,11 +69,11 @@ TEST(MultiFrameIncomingTransfer, Basic)
using uavcan::MultiFrameIncomingTransfer;
uavcan::PoolManager<1> poolmgr; // We don't need dynamic memory
uavcan::TransferBufferManager<256, 1> bufmgr(&poolmgr);
uavcan::TransferBufferManager<256, 1> bufmgr(poolmgr);
const RxFrame frame = makeFrame();
uavcan::TransferBufferManagerKey bufmgr_key(frame.getSrcNodeID(), frame.getTransferType());
uavcan::TransferBufferAccessor tba(&bufmgr, bufmgr_key);
uavcan::TransferBufferAccessor tba(bufmgr, bufmgr_key);
MultiFrameIncomingTransfer it(frame.getMonotonicTimestamp(), frame.getUtcTimestamp(), frame, tba);
libuavcan/test/transport/outgoing_transfer_registry.cpp
+1 -1
View File
@@ -11,7 +11,7 @@ TEST(OutgoingTransferRegistry, Basic)
{
using uavcan::OutgoingTransferRegistryKey;
uavcan::PoolManager<1> poolmgr; // Empty
uavcan::OutgoingTransferRegistry<4> otr(&poolmgr);
uavcan::OutgoingTransferRegistry<4> otr(poolmgr);
otr.cleanup(1000);
libuavcan/test/transport/transfer_buffer.cpp
+3 -3
View File
@@ -138,7 +138,7 @@ TEST(DynamicTransferBuffer, Basic)
uavcan::PoolManager<2> poolmgr;
poolmgr.addPool(&pool);
DynamicTransferBuffer buf(&poolmgr, MAX_SIZE);
DynamicTransferBuffer buf(poolmgr, MAX_SIZE);
uint8_t local_buffer[TEST_BUFFER_SIZE * 2];
const uint8_t* const test_data_ptr = reinterpret_cast<const uint8_t*>(TEST_DATA.c_str());
@@ -239,7 +239,7 @@ TEST(TransferBufferManager, Basic)
poolmgr.addPool(&pool);
typedef TransferBufferManager<MGR_MAX_BUFFER_SIZE, 2> TransferBufferManagerType;
std::auto_ptr<TransferBufferManagerType> mgr(new TransferBufferManagerType(&poolmgr));
std::auto_ptr<TransferBufferManagerType> mgr(new TransferBufferManagerType(poolmgr));
// Empty
ASSERT_FALSE(mgr->access(TransferBufferManagerKey(0, uavcan::TRANSFER_TYPE_MESSAGE_UNICAST)));
@@ -342,7 +342,7 @@ TEST(TransferBufferManager, Basic)
TEST(TransferBufferManager, EmptySpecialization)
{
uavcan::TransferBufferManager<0, 0> mgr(NULL);
uavcan::TransferBufferManager<0, 0> mgr;
(void)mgr;
ASSERT_GE(sizeof(void*), sizeof(mgr));
}
libuavcan/test/transport/transfer_listener.cpp
+5 -5
View File
@@ -39,7 +39,7 @@ TEST(TransferListener, BasicMFT)
uavcan::PoolManager<1> poolmgr;
poolmgr.addPool(&pool);
TestSubscriber<256, 1, 1> subscriber(&type, &poolmgr);
TestSubscriber<256, 1, 1> subscriber(type, poolmgr);
/*
* Test data
@@ -92,7 +92,7 @@ TEST(TransferListener, CrcFailure)
type.hash.value[i] = i | (i << 4);
uavcan::PoolManager<1> poolmgr; // No dynamic memory
TestSubscriber<256, 2, 2> subscriber(&type, &poolmgr); // Static buffer only, 2 entries
TestSubscriber<256, 2, 2> subscriber(type, poolmgr); // Static buffer only, 2 entries
/*
* Generating transfers with damaged payload (CRC is not valid)
@@ -137,7 +137,7 @@ TEST(TransferListener, BasicSFT)
type.hash.value[i] = i | (i << 4);
uavcan::PoolManager<1> poolmgr; // No dynamic memory. At all.
TestSubscriber<0, 0, 5> subscriber(&type, &poolmgr); // Max buf size is 0, i.e. SFT-only
TestSubscriber<0, 0, 5> subscriber(type, poolmgr); // Max buf size is 0, i.e. SFT-only
TransferListenerEmulator emulator(subscriber, type);
const Transfer transfers[] =
@@ -174,7 +174,7 @@ TEST(TransferListener, Cleanup)
type.hash.value[i] = i | (i << 4);
uavcan::PoolManager<1> poolmgr; // No dynamic memory
TestSubscriber<256, 1, 2> subscriber(&type, &poolmgr); // Static buffer only, 1 entry
TestSubscriber<256, 1, 2> subscriber(type, poolmgr); // Static buffer only, 1 entry
/*
* Generating transfers
@@ -230,7 +230,7 @@ TEST(TransferListener, MaximumTransferLength)
type.hash.value[i] = i | (i << 4);
uavcan::PoolManager<1> poolmgr;
TestSubscriber<uavcan::MAX_TRANSFER_PAYLOAD_LEN * 2, 2, 2> subscriber(&type, &poolmgr);
TestSubscriber<uavcan::MAX_TRANSFER_PAYLOAD_LEN * 2, 2, 2> subscriber(type, poolmgr);
static const std::string DATA_OK(uavcan::MAX_TRANSFER_PAYLOAD_LEN, 'z');
libuavcan/test/transport/transfer_receiver.cpp
+12 -12
View File
@@ -52,7 +52,7 @@ struct Context
uavcan::TransferBufferManager<BUFSIZE, 1> bufmgr;
Context()
: bufmgr(&poolmgr)
: bufmgr(poolmgr)
{
assert(poolmgr.allocate(1) == NULL);
}
@@ -96,7 +96,7 @@ TEST(TransferReceiver, Basic)
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(&context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
/*
* Empty
@@ -216,7 +216,7 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(&context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
/*
* Simple transfer, maximum buffer length
@@ -251,7 +251,7 @@ TEST(TransferReceiver, UnterminatedTransfer)
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(&context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
std::string content;
for (int i = 0; i <= uavcan::Frame::INDEX_MAX; i++)
@@ -272,7 +272,7 @@ TEST(TransferReceiver, OutOfOrderFrames)
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(&context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 7, 100000000), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 3, false, 7, 100000100), bk)); // Out of order
@@ -293,7 +293,7 @@ TEST(TransferReceiver, IntervalMeasurement)
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(&context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
static const int INTERVAL = 1000;
uavcan::TransferID tid;
@@ -323,7 +323,7 @@ TEST(TransferReceiver, Restart)
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(&context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
/*
* This transfer looks complete, but must be ignored because of large delay after the first frame
@@ -365,7 +365,7 @@ TEST(TransferReceiver, UtcTransferTimestamping)
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(&context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
/*
* Zero UTC timestamp must be preserved
@@ -431,7 +431,7 @@ TEST(TransferReceiver, HeaderParsing)
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferBufferAccessor bk1(&context.bufmgr, gen.bufmgr_key);
uavcan::TransferBufferAccessor bk1(context.bufmgr, gen.bufmgr_key);
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, tid.get(), 1), bk1));
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", 1, true, tid.get(), 2), bk1));
@@ -450,7 +450,7 @@ TEST(TransferReceiver, HeaderParsing)
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), ADDRESSED_TRANSFER_TYPES[i]);
uavcan::TransferBufferAccessor bk2(&context.bufmgr, gen.bufmgr_key);
uavcan::TransferBufferAccessor bk2(context.bufmgr, gen.bufmgr_key);
const uint64_t ts_monotonic = i + 10;
@@ -473,7 +473,7 @@ TEST(TransferReceiver, HeaderParsing)
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferBufferAccessor bk(&context.bufmgr, gen.bufmgr_key);
uavcan::TransferBufferAccessor bk(context.bufmgr, gen.bufmgr_key);
const uavcan::RxFrame frame = gen(0, SFT_PAYLOAD_BROADCAST, 0, true, tid.get(), 1000);
@@ -493,7 +493,7 @@ TEST(TransferReceiver, HeaderParsing)
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), ADDRESSED_TRANSFER_TYPES[i]);
uavcan::TransferBufferAccessor bk(&context.bufmgr, gen.bufmgr_key);
uavcan::TransferBufferAccessor bk(context.bufmgr, gen.bufmgr_key);
const uavcan::RxFrame frame = gen(0, SFT_PAYLOAD_UNICAST, 0, true, tid.get(), i + 10000);
libuavcan/test/transport/transfer_sender.cpp
+6 -6
View File
@@ -33,12 +33,12 @@ TEST(TransferSender, Basic)
SystemClockMock clockmock(100);
CanDriverMock driver(2, clockmock);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(&poolmgr);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
static const uavcan::NodeID TX_NODE_ID(64);
static const uavcan::NodeID RX_NODE_ID(65);
uavcan::Dispatcher dispatcher_tx(&driver, &poolmgr, &clockmock, &out_trans_reg, TX_NODE_ID);
uavcan::Dispatcher dispatcher_rx(&driver, &poolmgr, &clockmock, &out_trans_reg, RX_NODE_ID);
uavcan::Dispatcher dispatcher_tx(driver, poolmgr, clockmock, out_trans_reg, TX_NODE_ID);
uavcan::Dispatcher dispatcher_rx(driver, poolmgr, clockmock, out_trans_reg, RX_NODE_ID);
/*
* Test environment
@@ -109,9 +109,9 @@ TEST(TransferSender, Basic)
}
}
TestSubscriber<512, 2, 2> sub_msg(TYPES + 0, &poolmgr);
TestSubscriber<512, 2, 2> sub_srv_req(TYPES + 1, &poolmgr);
TestSubscriber<512, 2, 2> sub_srv_resp(TYPES + 1, &poolmgr);
TestSubscriber<512, 2, 2> sub_msg(TYPES[0], poolmgr);
TestSubscriber<512, 2, 2> sub_srv_req(TYPES[1], poolmgr);
TestSubscriber<512, 2, 2> sub_srv_resp(TYPES[1], poolmgr);
dispatcher_rx.registerMessageListener(&sub_msg);
dispatcher_rx.registerServiceRequestListener(&sub_srv_req);
libuavcan/test/transport/transfer_test_helpers.cpp
+2 -2
View File
@@ -12,8 +12,8 @@ TEST(TransferTestHelpers, Transfer)
uavcan::PoolManager<1> poolmgr;
poolmgr.addPool(&pool);
uavcan::TransferBufferManager<128, 1> mgr(&poolmgr);
uavcan::TransferBufferAccessor tba(&mgr, uavcan::TransferBufferManagerKey(0, uavcan::TRANSFER_TYPE_MESSAGE_UNICAST));
uavcan::TransferBufferManager<128, 1> mgr(poolmgr);
uavcan::TransferBufferAccessor tba(mgr, uavcan::TransferBufferManagerKey(0, uavcan::TRANSFER_TYPE_MESSAGE_UNICAST));
uavcan::RxFrame frame(uavcan::Frame(123, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 1, 0, 0, 0, true), 0, 0, 0);
uavcan::MultiFrameIncomingTransfer mfit(10, 1000, frame, tba);
libuavcan/test/transport/transfer_test_helpers.hpp
+2 -2
View File
@@ -104,13 +104,13 @@ class TestSubscriber : public uavcan::TransferListener<MAX_BUF_SIZE, NUM_STATIC_
std::queue<Transfer> transfers_;
public:
TestSubscriber(const uavcan::DataTypeDescriptor* data_type, uavcan::IAllocator* allocator)
TestSubscriber(const uavcan::DataTypeDescriptor& data_type, uavcan::IAllocator& allocator)
: Base(data_type, allocator)
{ }
void handleIncomingTransfer(uavcan::IncomingTransfer& transfer)
{
const Transfer rx(transfer, *Base::getDataTypeDescriptor());
const Transfer rx(transfer, Base::getDataTypeDescriptor());
transfers_.push(rx);
std::cout << "Received transfer: " << rx.toString() << std::endl;
}