fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-31 08:21:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added tests for UTC transfer timestamping

Browse Source
This commit is contained in:
Pavel Kirienko
2014-02-11 14:41:24 +04:00
parent 696451baca
commit 557278c6ac
1 changed files with 52 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/test/transport/transfer_receiver.cpp
+52 -2
View File
@@ -23,7 +23,7 @@ struct RxFrameGenerator
{ }
uavcan::RxFrame operator()(int iface_index, const std::string& data, uint8_t frame_index, bool last,
uint8_t transfer_id, uint64_t timestamp)
uint8_t transfer_id, uint64_t ts_monotonic, uint64_t ts_utc = 0)
{
if (data.length() > uavcan::Frame::PAYLOAD_LEN_MAX)
{
@@ -34,7 +34,8 @@ struct RxFrameGenerator
uavcan::RxFrame frm;
frm.iface_index = iface_index;
frm.ts_monotonic = timestamp;
frm.ts_monotonic = ts_monotonic;
frm.ts_utc = ts_utc;
frm.data_type_id = data_type_id;
frm.frame_index = frame_index;
@@ -351,3 +352,52 @@ TEST(TransferReceiver, Restart)
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "123456781234567812345678"));
}
TEST(TransferReceiver, UtcTransferTimestamping)
{
Context<32> context;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
/*
* Zero UTC timestamp must be preserved
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 0, 1, 0)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 0, 2, 0)));
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 0, 3, 0)));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
ASSERT_EQ(1, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(0, rcv.getLastTransferTimestampUtc());
/*
* Non-zero UTC timestamp
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 1, 4, 123))); // This UTC is going to be preserved
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 1, 5, 0))); // Following are ignored
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 1, 6, 42)));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
ASSERT_EQ(4, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(123, rcv.getLastTransferTimestampUtc());
/*
* Single-frame transfers
*/
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "abc", 0, true, 2, 10, 100000000))); // Exact value is irrelevant (100kk ok)
ASSERT_EQ(10, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(100000000, rcv.getLastTransferTimestampUtc());
/*
* Restart recovery
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 1, 100000000, 800000000)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", 1, false, 1, 100000001, 300000000)));
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", 2, true, 1, 100000002, 900000000)));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(800000000, rcv.getLastTransferTimestampUtc());
}