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Raft event tracing interface, more states of RaftCore, basic functions of RaftCore

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This commit is contained in:
Pavel Kirienko
2015-05-07 13:58:24 +03:00
parent 6ae48c25cb
commit 5e56c8a612
3 changed files with 346 additions and 43 deletions
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libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
+40 -22
View File
@@ -53,6 +53,15 @@ public:
};
class EventTracer : public uavcan::IDynamicNodeIDAllocationServerEventTracer
{
virtual void onEvent(uavcan::uint16_t event_code, uavcan::int64_t event_argument)
{
std::cout << "Event\t" << event_code << "\t" << event_argument << std::endl;
}
};
static const unsigned NumEntriesInStorageWithEmptyLog = 4; // last index + 3 items per log entry
@@ -140,10 +149,11 @@ TEST(DynamicNodeIDAllocationServer, MarshallingStorageDecorator)
TEST(DynamicNodeIDAllocationServer, LogInitialization)
{
EventTracer tracer;
// No log data in the storage - initializing empty log
{
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage);
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
ASSERT_EQ(0, storage.getNumKeys());
ASSERT_LE(0, log.init());
@@ -157,7 +167,7 @@ TEST(DynamicNodeIDAllocationServer, LogInitialization)
// Nonempty storage, one item
{
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage);
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
storage.set("log_last_index", "0");
ASSERT_LE(-uavcan::ErrFailure, log.init()); // Expected one entry, none found
@@ -174,7 +184,7 @@ TEST(DynamicNodeIDAllocationServer, LogInitialization)
// Nonempty storage, broken data
{
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage);
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
storage.set("log_last_index", "foobar");
ASSERT_LE(-uavcan::ErrFailure, log.init()); // Bad value
@@ -197,7 +207,7 @@ TEST(DynamicNodeIDAllocationServer, LogInitialization)
// Nonempty storage, many items
{
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage);
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
storage.set("log_last_index", "1"); // 2 items - 0, 1
storage.set("log0_term", "0");
@@ -235,8 +245,9 @@ TEST(DynamicNodeIDAllocationServer, LogInitialization)
TEST(DynamicNodeIDAllocationServer, LogAppend)
{
EventTracer tracer;
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage);
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
ASSERT_EQ(0, storage.getNumKeys());
ASSERT_LE(0, log.init());
@@ -307,8 +318,9 @@ TEST(DynamicNodeIDAllocationServer, LogAppend)
TEST(DynamicNodeIDAllocationServer, LogRemove)
{
EventTracer tracer;
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage);
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
/*
* Filling the log fully
@@ -359,12 +371,13 @@ TEST(DynamicNodeIDAllocationServer, LogRemove)
TEST(DynamicNodeIDAllocationServer, PersistentStorageInitialization)
{
EventTracer tracer;
/*
* First initialization
*/
{
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::PersistentState pers(storage);
uavcan::dynamic_node_id_server_impl::PersistentState pers(storage, tracer);
ASSERT_EQ(0, storage.getNumKeys());
ASSERT_LE(0, pers.init());
@@ -382,12 +395,12 @@ TEST(DynamicNodeIDAllocationServer, PersistentStorageInitialization)
{
// This log is used to initialize the storage
uavcan::dynamic_node_id_server_impl::Log log(storage);
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
ASSERT_LE(0, log.init());
}
ASSERT_LE(1, storage.getNumKeys());
uavcan::dynamic_node_id_server_impl::PersistentState pers(storage);
uavcan::dynamic_node_id_server_impl::PersistentState pers(storage, tracer);
ASSERT_LE(0, pers.init());
@@ -404,14 +417,14 @@ TEST(DynamicNodeIDAllocationServer, PersistentStorageInitialization)
{
// This log is used to initialize the storage
uavcan::dynamic_node_id_server_impl::Log log(storage);
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
ASSERT_LE(0, log.init());
}
ASSERT_LE(1, storage.getNumKeys());
storage.set("current_term", "1");
uavcan::dynamic_node_id_server_impl::PersistentState pers(storage);
uavcan::dynamic_node_id_server_impl::PersistentState pers(storage, tracer);
ASSERT_GT(0, pers.init()); // Fails because current term is not zero
@@ -432,7 +445,7 @@ TEST(DynamicNodeIDAllocationServer, PersistentStorageInitialization)
{
// This log is used to initialize the storage
uavcan::dynamic_node_id_server_impl::Log log(storage);
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
ASSERT_LE(0, log.init());
uavcan::protocol::dynamic_node_id::server::Entry entry;
@@ -443,7 +456,7 @@ TEST(DynamicNodeIDAllocationServer, PersistentStorageInitialization)
}
ASSERT_LE(4, storage.getNumKeys());
uavcan::dynamic_node_id_server_impl::PersistentState pers(storage);
uavcan::dynamic_node_id_server_impl::PersistentState pers(storage, tracer);
ASSERT_GT(0, pers.init()); // Fails because log is not empty
@@ -468,8 +481,9 @@ TEST(DynamicNodeIDAllocationServer, PersistentStorageInitialization)
TEST(DynamicNodeIDAllocationServer, PersistentStorage)
{
EventTracer tracer;
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::PersistentState pers(storage);
uavcan::dynamic_node_id_server_impl::PersistentState pers(storage, tracer);
/*
* Initializing
@@ -549,15 +563,17 @@ TEST(DynamicNodeIDAllocationServer, ClusterManagerInitialization)
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::server::Discovery> _reg1;
EventTracer tracer;
/*
* Simple initialization
*/
{
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage);
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
InterlinkedTestNodesWithSysClock nodes;
uavcan::dynamic_node_id_server_impl::ClusterManager mgr(nodes.a, storage, log);
uavcan::dynamic_node_id_server_impl::ClusterManager mgr(nodes.a, storage, log, tracer);
// Too big
ASSERT_GT(0, mgr.init(MaxClusterSize + 1));
@@ -579,10 +595,10 @@ TEST(DynamicNodeIDAllocationServer, ClusterManagerInitialization)
*/
{
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage);
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
InterlinkedTestNodesWithSysClock nodes;
uavcan::dynamic_node_id_server_impl::ClusterManager mgr(nodes.a, storage, log);
uavcan::dynamic_node_id_server_impl::ClusterManager mgr(nodes.a, storage, log, tracer);
// Not configured
ASSERT_GT(0, mgr.init());
@@ -601,11 +617,12 @@ TEST(DynamicNodeIDAllocationServer, ClusterManagerOneServer)
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::server::Discovery> _reg1;
EventTracer tracer;
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage);
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
InterlinkedTestNodesWithSysClock nodes;
uavcan::dynamic_node_id_server_impl::ClusterManager mgr(nodes.a, storage, log);
uavcan::dynamic_node_id_server_impl::ClusterManager mgr(nodes.a, storage, log, tracer);
/*
* Pub and sub
@@ -675,11 +692,12 @@ TEST(DynamicNodeIDAllocationServer, ClusterManagerThreeServers)
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::server::Discovery> _reg1;
EventTracer tracer;
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage);
uavcan::dynamic_node_id_server_impl::Log log(storage, tracer);
InterlinkedTestNodesWithSysClock nodes;
uavcan::dynamic_node_id_server_impl::ClusterManager mgr(nodes.a, storage, log);
uavcan::dynamic_node_id_server_impl::ClusterManager mgr(nodes.a, storage, log, tracer);
/*
* Pub and sub