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Properly defining poll interval of NodeDiscoverer

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This commit is contained in:
Pavel Kirienko
2015-05-14 00:02:43 +03:00
parent 3db54cd6af
commit 509ef85048
2 changed files with 27 additions and 19 deletions
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libuavcan/test/protocol/dynamic_node_id_server/node_discoverer.cpp
+24 -18
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@@ -111,6 +111,7 @@ TEST(dynamic_node_id_server_NodeDiscoverer, Basic)
/*
* Publishing NodeStatus, discovery is disabled
*/
std::cout << "!!! Publishing NodeStatus, discovery is disabled" << std::endl;
handler.can_discover = false;
uavcan::Publisher<uavcan::protocol::NodeStatus> node_status_pub(nodes.b);
@@ -132,48 +133,53 @@ TEST(dynamic_node_id_server_NodeDiscoverer, Basic)
/*
* Enabling discovery - the querying will continue despite the fact that NodeStatus messages are not arriving
*/
std::cout << "!!! Enabling discovery" << std::endl;
handler.can_discover = true;
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1400));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(650));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNewNodeFound));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryTimerStart));
ASSERT_EQ(0, tracer.countEvents(TraceDiscoveryTimerStop));
ASSERT_LE(1, tracer.countEvents(TraceDiscoveryGetNodeInfoRequest));
ASSERT_LE(1, tracer.countEvents(TraceDiscoveryGetNodeInfoFailure));
ASSERT_EQ(2, tracer.countEvents(TraceDiscoveryGetNodeInfoRequest));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryGetNodeInfoFailure));
ASSERT_TRUE(disc.hasUnknownNodes());
/*
* Publishing NodeStatus
*/
std::cout << "!!! Publishing NodeStatus" << std::endl;
node_status.uptime_sec += 5U;
ASSERT_LE(0, node_status_pub.broadcast(node_status));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1400));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(650));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNewNodeFound));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryTimerStart));
ASSERT_EQ(0, tracer.countEvents(TraceDiscoveryTimerStop));
ASSERT_LE(2, tracer.countEvents(TraceDiscoveryGetNodeInfoRequest));
ASSERT_LE(2, tracer.countEvents(TraceDiscoveryGetNodeInfoFailure));
ASSERT_EQ(3, tracer.countEvents(TraceDiscoveryGetNodeInfoRequest));
ASSERT_EQ(2, tracer.countEvents(TraceDiscoveryGetNodeInfoFailure));
ASSERT_TRUE(disc.hasUnknownNodes());
/*
* Publishing NodeStatus, discovery is enabled, GetNodeInfo mock server is initialized
*/
std::cout << "!!! Publishing NodeStatus, discovery is enabled, GetNodeInfo mock server is initialized" << std::endl;
GetNodeInfoMockServer get_node_info_server(nodes.b);
get_node_info_server.response.hardware_version.unique_id[0] = 123; // Arbitrary data
get_node_info_server.response.hardware_version.unique_id[6] = 213;
get_node_info_server.response.hardware_version.unique_id[14] = 52;
ASSERT_LE(0, get_node_info_server.start());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1400));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(400));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNewNodeFound));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryTimerStart));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryTimerStop));
ASSERT_LE(3, tracer.countEvents(TraceDiscoveryGetNodeInfoRequest));
ASSERT_LE(2, tracer.countEvents(TraceDiscoveryGetNodeInfoFailure));
ASSERT_EQ(4, tracer.countEvents(TraceDiscoveryGetNodeInfoRequest));
ASSERT_EQ(3, tracer.countEvents(TraceDiscoveryGetNodeInfoFailure));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNodeFinalized));
ASSERT_FALSE(disc.hasUnknownNodes());
@@ -220,13 +226,13 @@ TEST(dynamic_node_id_server_NodeDiscoverer, RestartAndMaxAttempts)
node_status.uptime_sec = 10; // Nonzero
ASSERT_LE(0, node_status_pub.broadcast(node_status));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(3400));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1650));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNewNodeFound));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryTimerStart));
ASSERT_EQ(0, tracer.countEvents(TraceDiscoveryTimerStop));
ASSERT_LE(3, tracer.countEvents(TraceDiscoveryGetNodeInfoRequest));
ASSERT_LE(3, tracer.countEvents(TraceDiscoveryGetNodeInfoFailure));
ASSERT_EQ(4, tracer.countEvents(TraceDiscoveryGetNodeInfoRequest));
ASSERT_EQ(3, tracer.countEvents(TraceDiscoveryGetNodeInfoFailure));
ASSERT_EQ(0, tracer.countEvents(TraceDiscoveryNodeFinalized));
ASSERT_EQ(0, tracer.countEvents(TraceDiscoveryNodeRestartDetected));
ASSERT_TRUE(disc.hasUnknownNodes());
@@ -238,13 +244,13 @@ TEST(dynamic_node_id_server_NodeDiscoverer, RestartAndMaxAttempts)
node_status.uptime_sec = 9; // Less than previous
ASSERT_LE(0, node_status_pub.broadcast(node_status));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(3400));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1650));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNewNodeFound));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryTimerStart));
ASSERT_EQ(0, tracer.countEvents(TraceDiscoveryTimerStop));
ASSERT_LE(6, tracer.countEvents(TraceDiscoveryGetNodeInfoRequest));
ASSERT_LE(6, tracer.countEvents(TraceDiscoveryGetNodeInfoFailure));
ASSERT_EQ(7, tracer.countEvents(TraceDiscoveryGetNodeInfoRequest));
ASSERT_EQ(6, tracer.countEvents(TraceDiscoveryGetNodeInfoFailure));
ASSERT_EQ(0, tracer.countEvents(TraceDiscoveryNodeFinalized));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNodeRestartDetected));
ASSERT_TRUE(disc.hasUnknownNodes());
@@ -252,13 +258,13 @@ TEST(dynamic_node_id_server_NodeDiscoverer, RestartAndMaxAttempts)
/*
* Waiting for timeout
*/
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(3400));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1650));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNewNodeFound));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryTimerStart));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryTimerStop));
ASSERT_LE(8, tracer.countEvents(TraceDiscoveryGetNodeInfoRequest));
ASSERT_LE(8, tracer.countEvents(TraceDiscoveryGetNodeInfoFailure));
ASSERT_EQ(8, tracer.countEvents(TraceDiscoveryGetNodeInfoRequest));
ASSERT_EQ(8, tracer.countEvents(TraceDiscoveryGetNodeInfoFailure));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNodeFinalized));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNodeRestartDetected));
ASSERT_FALSE(disc.hasUnknownNodes());