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NetworkCompatChecker can tolerate no-response from CATS service. This allows nodes to not implement services at all while being UAVCAN compatible.

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This commit is contained in:
Pavel Kirienko
2014-06-14 12:38:50 +04:00
parent ce023d14c8
commit 518e105809
3 changed files with 21 additions and 15 deletions
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libuavcan/test/protocol/network_compat_checker.cpp
+11 -6
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@@ -22,12 +22,12 @@ static void registerTypes()
}
struct NodeInitializerRemoteContext
struct NetworkCompatibilityCheckerRemoteContext
{
uavcan::NodeStatusProvider node_status_provider;
uavcan::DataTypeInfoProvider data_type_info_provider;
NodeInitializerRemoteContext(uavcan::INode& node)
NetworkCompatibilityCheckerRemoteContext(uavcan::INode& node)
: node_status_provider(node)
, data_type_info_provider(node)
{
@@ -71,7 +71,7 @@ TEST(NetworkCompatibilityChecker, Success)
{
registerTypes();
InterlinkedTestNodesWithSysClock nodes;
NodeInitializerRemoteContext remote(nodes.b);
NetworkCompatibilityCheckerRemoteContext remote(nodes.b);
remote.start();
BackgroundSpinner bgspinner(nodes.b, nodes.a);
@@ -89,13 +89,18 @@ TEST(NetworkCompatibilityChecker, RequestTimeout)
{
registerTypes();
InterlinkedTestNodesWithSysClock nodes;
NodeInitializerRemoteContext remote(nodes.b);
NetworkCompatibilityCheckerRemoteContext remote(nodes.b);
remote.start();
ASSERT_LE(0, uavcan::NetworkCompatibilityChecker::publishGlobalDiscoveryRequest(nodes.a));
uavcan::NetworkCompatibilityChecker ni(nodes.a);
ASSERT_GT(0, ni.execute()); // There is no background spinner, so CATS request will time out
// There is no background spinner, so CATS request will time out
// Despite the time out, the checker will not report failure
ASSERT_EQ(0, ni.execute());
// The one (and only) node has failed
ASSERT_EQ(1, ni.getNumFailedNodes());
}
@@ -103,7 +108,7 @@ TEST(NetworkCompatibilityChecker, NodeIDCollision)
{
registerTypes();
InterlinkedTestNodesWithSysClock nodes(8, 8); // Same NID
NodeInitializerRemoteContext remote(nodes.b);
NetworkCompatibilityCheckerRemoteContext remote(nodes.b);
remote.start();
BackgroundSpinner bgspinner(nodes.b, nodes.a);