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NodeInfoRetriever - docs, logical fixes, tests

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This commit is contained in:
Pavel Kirienko
2015-05-17 16:29:19 +03:00
parent 36dda9c017
commit 600c29a953
2 changed files with 135 additions and 32 deletions
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libuavcan/test/protocol/node_info_retriever.cpp
+83 -11
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@@ -92,6 +92,9 @@ TEST(NodeInfoRetriever, Basic)
retr.removeListener(&listener); // Does nothing
retr.addListener(&listener);
retr.addListener(&listener);
retr.addListener(&listener);
ASSERT_EQ(1, retr.getNumListeners());
uavcan::protocol::HardwareVersion hwver;
hwver.unique_id[0] = 123;
@@ -106,6 +109,8 @@ TEST(NodeInfoRetriever, Basic)
ASSERT_FALSE(retr.isRetrievingInProgress());
ASSERT_EQ(0, retr.getNumPendingRequests());
EXPECT_EQ(40, retr.getRequestInterval().toMSec()); // Default
/*
* Waiting for discovery
*/
@@ -137,11 +142,11 @@ TEST(NodeInfoRetriever, Basic)
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 10, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 10, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(45));
ASSERT_EQ(1, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_EQ(2, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_EQ(3, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000));
ASSERT_TRUE(retr.isRetrievingInProgress());
@@ -151,11 +156,11 @@ TEST(NodeInfoRetriever, Basic)
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 11, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 11, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(45));
ASSERT_EQ(1, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_EQ(2, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_EQ(3, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000));
ASSERT_TRUE(retr.isRetrievingInProgress());
@@ -165,11 +170,11 @@ TEST(NodeInfoRetriever, Basic)
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 12, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 10, tid); // Reset
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(45));
ASSERT_EQ(1, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_EQ(2, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_EQ(3, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000));
ASSERT_TRUE(retr.isRetrievingInProgress());
@@ -181,9 +186,9 @@ TEST(NodeInfoRetriever, Basic)
tid.increment();
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 11, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(45));
ASSERT_EQ(1, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_EQ(1, retr.getNumPendingRequests()); // Still one because two went offline
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1200));
ASSERT_TRUE(retr.isRetrievingInProgress());
@@ -199,3 +204,70 @@ TEST(NodeInfoRetriever, Basic)
EXPECT_EQ(7, listener.status_change_cnt); // node 2 online/offline + 2 test nodes above online/offline + 1
EXPECT_EQ(3, listener.info_unavailable_cnt);
}
TEST(NodeInfoRetriever, MaxConcurrentRequests)
{
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg1;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg2;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GlobalDiscoveryRequest> _reg3;
InterlinkedTestNodesWithSysClock nodes;
uavcan::NodeInfoRetriever retr(nodes.a);
std::cout << "sizeof(uavcan::NodeInfoRetriever): " << sizeof(uavcan::NodeInfoRetriever) << std::endl;
std::cout << "sizeof(uavcan::ServiceClient<uavcan::protocol::GetNodeInfo>): "
<< sizeof(uavcan::ServiceClient<uavcan::protocol::GetNodeInfo>) << std::endl;
NodeInfoListener listener;
/*
* Initialization
*/
ASSERT_LE(0, retr.start());
retr.addListener(&listener);
ASSERT_EQ(1, retr.getNumListeners());
ASSERT_FALSE(retr.isRetrievingInProgress());
ASSERT_EQ(0, retr.getNumPendingRequests());
ASSERT_EQ(40, retr.getRequestInterval().toMSec());
const unsigned MaxPendingRequests = 13; // See class docs
const unsigned MinPendingRequestsAtFullLoad = 12;
/*
* Sending a lot of requests, making sure that the number of concurrent calls does not exceed the specified limit.
*/
for (uint8_t node_id = 1U; node_id <= 127U; node_id++)
{
publishNodeStatus(nodes.can_a, node_id, 0, 0, uavcan::TransferID());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_GE(MaxPendingRequests, retr.getNumPendingRequests());
ASSERT_TRUE(retr.isRetrievingInProgress());
}
ASSERT_GE(MaxPendingRequests, retr.getNumPendingRequests());
ASSERT_LE(MinPendingRequestsAtFullLoad, retr.getNumPendingRequests());
for (int i = 0; i < 8; i++) // Approximate
{
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(35));
std::cout << "!!! SPIN " << i << " COMPLETE" << std::endl;
ASSERT_GE(MaxPendingRequests, retr.getNumPendingRequests());
ASSERT_LE(MinPendingRequestsAtFullLoad, retr.getNumPendingRequests());
ASSERT_TRUE(retr.isRetrievingInProgress());
}
ASSERT_LT(0, retr.getNumPendingRequests());
ASSERT_TRUE(retr.isRetrievingInProgress());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(5000));
ASSERT_EQ(0, retr.getNumPendingRequests());
ASSERT_FALSE(retr.isRetrievingInProgress());
}