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CentralizedServer

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Pavel Kirienko
2015-05-27 16:10:38 +03:00
parent bdc0a327b7
commit 5930bf3ed4
3 changed files with 305 additions and 0 deletions
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libuavcan/test/protocol/dynamic_node_id_server/centralized/server.cpp
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/*
* Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <gtest/gtest.h>
#include <uavcan/protocol/dynamic_node_id_server/centralized.hpp>
#include <uavcan/protocol/dynamic_node_id_client.hpp>
#include "../../helpers.hpp"
#include "../event_tracer.hpp"
#include "../../helpers.hpp"
#include "../memory_storage_backend.hpp"
using uavcan::dynamic_node_id_server::UniqueID;
TEST(dynamic_node_id_server_centralized_Server, Basic)
{
using namespace uavcan::dynamic_node_id_server;
using namespace uavcan::protocol::dynamic_node_id;
using namespace uavcan::protocol::dynamic_node_id::server;
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<Allocation> _reg1;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg2;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg3;
EventTracer tracer;
MemoryStorageBackend storage;
// Node A is Allocator, Node B is Allocatee
InterlinkedTestNodesWithSysClock nodes(uavcan::NodeID(10), uavcan::NodeID::Broadcast);
UniqueID own_unique_id;
own_unique_id[0] = 0xAA;
own_unique_id[3] = 0xCC;
own_unique_id[7] = 0xEE;
own_unique_id[9] = 0xBB;
/*
* Server
*/
uavcan::dynamic_node_id_server::CentralizedServer server(nodes.a, storage, tracer);
ASSERT_LE(0, server.init(own_unique_id));
ASSERT_EQ(1, server.getNumAllocations()); // Server's own node ID
/*
* Client
*/
uavcan::DynamicNodeIDClient client(nodes.b);
uavcan::protocol::HardwareVersion hwver;
for (uavcan::uint8_t i = 0; i < hwver.unique_id.size(); i++)
{
hwver.unique_id[i] = i;
}
const uavcan::NodeID PreferredNodeID = 42;
ASSERT_LE(0, client.start(hwver, PreferredNodeID));
/*
* Fire
*/
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(15000));
ASSERT_TRUE(client.isAllocationComplete());
ASSERT_EQ(PreferredNodeID, client.getAllocatedNodeID());
ASSERT_EQ(2, server.getNumAllocations()); // Server's own node ID + client
}
TEST(dynamic_node_id_server_centralized, ObjectSizes)
{
using namespace uavcan::dynamic_node_id_server;
std::cout << "centralized::Storage: " << sizeof(centralized::Storage) << std::endl;
std::cout << "centralized::Server: " << sizeof(centralized::Server) << std::endl;
}