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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/transport/dispatcher.cpp
+12 -12
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@@ -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;