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INode class. Publisher, Subscriber, ServiceServer, ServiceClient now accept INode in constructor instead of the bunch of independent params. Self NodeID now being configured via setNodeID() method instead of constructor param

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This commit is contained in:
Pavel Kirienko
2014-03-14 19:54:27 +04:00
parent 15cbf96378
commit 613efa49b9
22 changed files with 211 additions and 181 deletions
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libuavcan/test/node/publisher.cpp
+6 -14
View File
@@ -7,24 +7,16 @@
#include <uavcan/mavlink/Message.hpp>
#include "../clock.hpp"
#include "../transport/can/can.hpp"
#include "test_node.hpp"
TEST(Publisher, Basic)
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
uavcan::PoolManager<1> poolmgr;
poolmgr.addPool(&pool);
SystemClockMock clock_mock(100);
CanDriverMock can_driver(2, clock_mock);
TestNode node(can_driver, clock_mock, 1);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Scheduler sch(can_driver, poolmgr, clock_mock, out_trans_reg, uavcan::NodeID(1));
uavcan::MarshalBufferProvider<> buffer_provider;
uavcan::Publisher<uavcan::mavlink::Message> publisher(sch, buffer_provider);
uavcan::Publisher<uavcan::mavlink::Message> publisher(node);
std::cout <<
"sizeof(uavcan::Publisher<uavcan::mavlink::Message>): " <<
@@ -61,7 +53,7 @@ TEST(Publisher, Basic)
// uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
// uint_fast8_t frame_index, TransferID transfer_id, bool last_frame = false
uavcan::Frame expected_frame(uavcan::mavlink::Message::DefaultDataTypeID, uavcan::TransferTypeMessageBroadcast,
sch.getDispatcher().getSelfNodeID(), uavcan::NodeID::Broadcast, 0, 0, true);
node.getNodeID(), uavcan::NodeID::Broadcast, 0, 0, true);
expected_frame.setPayload(expected_transfer_payload, 7);
uavcan::CanFrame expected_can_frame;
@@ -76,7 +68,7 @@ TEST(Publisher, Basic)
ASSERT_LT(0, publisher.broadcast(msg));
expected_frame = uavcan::Frame(uavcan::mavlink::Message::DefaultDataTypeID, uavcan::TransferTypeMessageBroadcast,
sch.getDispatcher().getSelfNodeID(), uavcan::NodeID::Broadcast, 0, 1, true);
node.getNodeID(), uavcan::NodeID::Broadcast, 0, 1, true);
expected_frame.setPayload(expected_transfer_payload, 7);
ASSERT_TRUE(expected_frame.compile(expected_can_frame));
@@ -97,7 +89,7 @@ TEST(Publisher, Basic)
// uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
// uint_fast8_t frame_index, TransferID transfer_id, bool last_frame = false
uavcan::Frame expected_frame(uavcan::mavlink::Message::DefaultDataTypeID, uavcan::TransferTypeMessageUnicast,
sch.getDispatcher().getSelfNodeID(), uavcan::NodeID(0x44), 0, 0, true);
node.getNodeID(), uavcan::NodeID(0x44), 0, 0, true);
expected_frame.setPayload(expected_transfer_payload, 7);
uavcan::CanFrame expected_can_frame;
libuavcan/test/node/scheduler.cpp
+2 -1
View File
@@ -33,7 +33,8 @@ TEST(Scheduler, Timers)
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Scheduler sch(can_driver, poolmgr, clock_driver, out_trans_reg, uavcan::NodeID(1));
uavcan::Scheduler sch(can_driver, poolmgr, clock_driver, out_trans_reg);
sch.getDispatcher().setNodeID(1);
/*
* Registration
libuavcan/test/node/service_client.cpp
+13 -37
View File
@@ -12,6 +12,7 @@
#include <queue>
#include "../clock.hpp"
#include "../transport/can/can.hpp"
#include "test_node.hpp"
template <typename DataType>
@@ -53,29 +54,6 @@ static void stringServiceServerCallback(const uavcan::ReceivedDataStructure<root
}
struct MakeshiftNode : uavcan::Noncopyable
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
uavcan::PoolManager<1> poolmgr;
SystemClockDriver clock_driver;
uavcan::MarshalBufferProvider<> buffer_provider;
uavcan::OutgoingTransferRegistry<8> otr;
uavcan::Scheduler scheduler;
MakeshiftNode(uavcan::ICanDriver& can_driver, uavcan::NodeID self_node_id)
: otr(poolmgr)
, scheduler(can_driver, poolmgr, clock_driver, otr, self_node_id)
{
poolmgr.addPool(&pool);
}
void spin(uavcan::MonotonicDuration duration)
{
scheduler.spin(clock_driver.getMonotonic() + duration);
}
};
struct PairableCanDriver : public uavcan::ICanDriver, public uavcan::ICanIface
{
uavcan::ISystemClock& clock;
@@ -144,18 +122,16 @@ struct PairableCanDriver : public uavcan::ICanDriver, public uavcan::ICanIface
TEST(ServiceClient, Basic)
{
SystemClockDriver clock;
PairableCanDriver can_a(clock), can_b(clock);
can_a.linkTogether(&can_b);
MakeshiftNode node_a(can_a, 1), node_b(can_b, 2);
TestNode node_a(can_a, clock, 1), node_b(can_b, clock, 2);
// Type registration
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<root_ns_a::StringService> _registrator;
// Server
uavcan::ServiceServer<root_ns_a::StringService> server(node_a.scheduler, node_a.poolmgr, node_a.buffer_provider);
uavcan::ServiceServer<root_ns_a::StringService> server(node_a);
ASSERT_EQ(1, server.start(stringServiceServerCallback));
{
@@ -165,17 +141,17 @@ TEST(ServiceClient, Basic)
typename ServiceCallResultHandler<root_ns_a::StringService>::Binder > ClientType;
ServiceCallResultHandler<root_ns_a::StringService> handler;
ClientType client1(node_b.scheduler, node_b.poolmgr, node_b.buffer_provider);
ClientType client2(node_b.scheduler, node_b.poolmgr, node_b.buffer_provider);
ClientType client3(node_b.scheduler, node_b.poolmgr, node_b.buffer_provider);
ClientType client1(node_b);
ClientType client2(node_b);
ClientType client3(node_b);
client1.setCallback(handler.bind());
client2.setCallback(client1.getCallback());
client3.setCallback(client1.getCallback());
client3.setRequestTimeout(uavcan::MonotonicDuration::fromMSec(100));
ASSERT_EQ(1, node_a.scheduler.getDispatcher().getNumServiceRequestListeners());
ASSERT_EQ(0, node_b.scheduler.getDispatcher().getNumServiceResponseListeners()); // NOT listening!
ASSERT_EQ(1, node_a.getDispatcher().getNumServiceRequestListeners());
ASSERT_EQ(0, node_b.getDispatcher().getNumServiceResponseListeners()); // NOT listening!
root_ns_a::StringService::Request request;
request.string_request = "Hello world";
@@ -184,7 +160,7 @@ TEST(ServiceClient, Basic)
ASSERT_LT(0, client2.call(1, request)); // OK
ASSERT_LT(0, client3.call(99, request)); // Will timeout!
ASSERT_EQ(3, node_b.scheduler.getDispatcher().getNumServiceResponseListeners()); // Listening now!
ASSERT_EQ(3, node_b.getDispatcher().getNumServiceResponseListeners()); // Listening now!
ASSERT_TRUE(client1.isPending());
ASSERT_TRUE(client2.isPending());
@@ -193,7 +169,7 @@ TEST(ServiceClient, Basic)
node_a.spin(uavcan::MonotonicDuration::fromMSec(10));
node_b.spin(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_EQ(1, node_b.scheduler.getDispatcher().getNumServiceResponseListeners()); // Third is still listening!
ASSERT_EQ(1, node_b.getDispatcher().getNumServiceResponseListeners()); // Third is still listening!
ASSERT_FALSE(client1.isPending());
ASSERT_FALSE(client2.isPending());
@@ -211,7 +187,7 @@ TEST(ServiceClient, Basic)
ASSERT_FALSE(client2.isPending());
ASSERT_FALSE(client3.isPending());
ASSERT_EQ(0, node_b.scheduler.getDispatcher().getNumServiceResponseListeners()); // Third has timed out :(
ASSERT_EQ(0, node_b.getDispatcher().getNumServiceResponseListeners()); // Third has timed out :(
// Validating
ASSERT_TRUE(handler.match(ResultType::ErrorTimeout, 99, root_ns_a::StringService::Response()));
@@ -219,11 +195,11 @@ TEST(ServiceClient, Basic)
// Stray request
ASSERT_LT(0, client3.call(99, request)); // Will timeout!
ASSERT_TRUE(client3.isPending());
ASSERT_EQ(1, node_b.scheduler.getDispatcher().getNumServiceResponseListeners());
ASSERT_EQ(1, node_b.getDispatcher().getNumServiceResponseListeners());
}
// All destroyed - nobody listening
ASSERT_EQ(0, node_b.scheduler.getDispatcher().getNumServiceResponseListeners());
ASSERT_EQ(0, node_b.getDispatcher().getNumServiceResponseListeners());
}
libuavcan/test/node/service_server.cpp
+8 -15
View File
@@ -8,6 +8,7 @@
#include <root_ns_a/StringService.hpp>
#include "../clock.hpp"
#include "../transport/can/can.hpp"
#include "test_node.hpp"
struct ServerImpl
@@ -36,30 +37,22 @@ struct ServerImpl
TEST(ServiceServer, Basic)
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
uavcan::PoolManager<1> poolmgr;
poolmgr.addPool(&pool);
// Manual type registration - we can't rely on the GDTR state
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<root_ns_a::StringService> _registrator;
SystemClockDriver clock_driver;
CanDriverMock can_driver(1, clock_driver);
uavcan::MarshalBufferProvider<> buffer_provider;
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Scheduler sch(can_driver, poolmgr, clock_driver, out_trans_reg, uavcan::NodeID(1));
TestNode node(can_driver, clock_driver, 1);
ServerImpl impl("456");
{
uavcan::ServiceServer<root_ns_a::StringService, ServerImpl::Binder> server(sch, poolmgr, buffer_provider);
uavcan::ServiceServer<root_ns_a::StringService, ServerImpl::Binder> server(node);
ASSERT_EQ(0, sch.getDispatcher().getNumServiceRequestListeners());
ASSERT_EQ(0, node.getDispatcher().getNumServiceRequestListeners());
server.start(impl.bind());
ASSERT_EQ(1, sch.getDispatcher().getNumServiceRequestListeners());
ASSERT_EQ(1, node.getDispatcher().getNumServiceRequestListeners());
/*
* Request frames
@@ -78,7 +71,7 @@ TEST(ServiceServer, Basic)
can_driver.ifaces[0].pushRx(rx_frame);
}
sch.spin(clock_driver.getMonotonic() + uavcan::MonotonicDuration::fromUSec(10000));
node.spin(clock_driver.getMonotonic() + uavcan::MonotonicDuration::fromUSec(10000));
/*
* Responses (MFT)
@@ -113,7 +106,7 @@ TEST(ServiceServer, Basic)
ASSERT_EQ(0, server.getRequestFailureCount());
ASSERT_EQ(0, server.getResponseFailureCount());
ASSERT_EQ(1, sch.getDispatcher().getNumServiceRequestListeners());
ASSERT_EQ(1, node.getDispatcher().getNumServiceRequestListeners());
}
ASSERT_EQ(0, sch.getDispatcher().getNumServiceRequestListeners());
ASSERT_EQ(0, node.getDispatcher().getNumServiceRequestListeners());
}
libuavcan/test/node/subscriber.cpp
+23 -43
View File
@@ -9,6 +9,7 @@
#include <root_ns_a/EmptyMessage.hpp>
#include "../clock.hpp"
#include "../transport/can/can.hpp"
#include "test_node.hpp"
template <typename DataType>
@@ -59,27 +60,20 @@ struct SubscriptionListener
TEST(Subscriber, Basic)
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
uavcan::PoolManager<1> poolmgr;
poolmgr.addPool(&pool);
// Manual type registration - we can't rely on the GDTR state
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::mavlink::Message> _registrator;
SystemClockDriver clock_driver;
CanDriverMock can_driver(2, clock_driver);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Scheduler sch(can_driver, poolmgr, clock_driver, out_trans_reg, uavcan::NodeID(1));
TestNode node(can_driver, clock_driver, 1);
typedef SubscriptionListener<uavcan::mavlink::Message> Listener;
uavcan::Subscriber<uavcan::mavlink::Message, Listener::ExtendedBinder> sub_extended(sch, poolmgr);
uavcan::Subscriber<uavcan::mavlink::Message, Listener::ExtendedBinder> sub_extended2(sch, poolmgr); // Not used
uavcan::Subscriber<uavcan::mavlink::Message, Listener::SimpleBinder> sub_simple(sch, poolmgr);
uavcan::Subscriber<uavcan::mavlink::Message, Listener::SimpleBinder> sub_simple2(sch, poolmgr); // Not used
uavcan::Subscriber<uavcan::mavlink::Message, Listener::ExtendedBinder> sub_extended(node);
uavcan::Subscriber<uavcan::mavlink::Message, Listener::ExtendedBinder> sub_extended2(node); // Not used
uavcan::Subscriber<uavcan::mavlink::Message, Listener::SimpleBinder> sub_simple(node);
uavcan::Subscriber<uavcan::mavlink::Message, Listener::SimpleBinder> sub_simple2(node); // Not used
std::cout <<
"sizeof(uavcan::Subscriber<uavcan::mavlink::Message, Listener::ExtendedBinder>): " <<
@@ -115,7 +109,7 @@ TEST(Subscriber, Basic)
{
uavcan::TransferType tt = (i & 1) ? uavcan::TransferTypeMessageUnicast : uavcan::TransferTypeMessageBroadcast;
uavcan::NodeID dni = (tt == uavcan::TransferTypeMessageBroadcast) ?
uavcan::NodeID::Broadcast : sch.getDispatcher().getSelfNodeID();
uavcan::NodeID::Broadcast : node.getDispatcher().getNodeID();
// uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
// uint_fast8_t frame_index, TransferID transfer_id, bool last_frame
uavcan::Frame frame(uavcan::mavlink::Message::DefaultDataTypeID, tt, uavcan::NodeID(i + 100), dni, 0, i, true);
@@ -127,19 +121,19 @@ TEST(Subscriber, Basic)
/*
* Reception
*/
ASSERT_EQ(0, sch.getDispatcher().getNumMessageListeners());
ASSERT_EQ(0, node.getDispatcher().getNumMessageListeners());
ASSERT_EQ(1, sub_extended.start(listener.bindExtended()));
ASSERT_EQ(1, sub_extended2.start(listener.bindExtended()));
ASSERT_EQ(1, sub_simple.start(listener.bindSimple()));
ASSERT_EQ(1, sub_simple2.start(listener.bindSimple()));
ASSERT_EQ(4, sch.getDispatcher().getNumMessageListeners());
ASSERT_EQ(4, node.getDispatcher().getNumMessageListeners());
sub_extended2.stop(); // These are not used - making sure they aren't receiving anything
sub_simple2.stop();
ASSERT_EQ(2, sch.getDispatcher().getNumMessageListeners());
ASSERT_EQ(2, node.getDispatcher().getNumMessageListeners());
for (unsigned int i = 0; i < rx_frames.size(); i++)
{
@@ -147,7 +141,7 @@ TEST(Subscriber, Basic)
can_driver.ifaces[1].pushRx(rx_frames[i]);
}
ASSERT_LE(0, sch.spin(clock_driver.getMonotonic() + durMono(10000)));
ASSERT_LE(0, node.spin(clock_driver.getMonotonic() + durMono(10000)));
/*
* Validation
@@ -175,14 +169,14 @@ TEST(Subscriber, Basic)
/*
* Unregistration
*/
ASSERT_EQ(2, sch.getDispatcher().getNumMessageListeners());
ASSERT_EQ(2, node.getDispatcher().getNumMessageListeners());
sub_extended.stop();
sub_extended2.stop();
sub_simple.stop();
sub_simple2.stop();
ASSERT_EQ(0, sch.getDispatcher().getNumMessageListeners());
ASSERT_EQ(0, node.getDispatcher().getNumMessageListeners());
}
@@ -194,26 +188,19 @@ static void panickingSink(const uavcan::ReceivedDataStructure<uavcan::mavlink::M
TEST(Subscriber, FailureCount)
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
uavcan::PoolManager<1> poolmgr;
poolmgr.addPool(&pool);
// Manual type registration - we can't rely on the GDTR state
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::mavlink::Message> _registrator;
SystemClockDriver clock_driver;
CanDriverMock can_driver(2, clock_driver);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Scheduler sch(can_driver, poolmgr, clock_driver, out_trans_reg, uavcan::NodeID(1));
TestNode node(can_driver, clock_driver, 1);
{
uavcan::Subscriber<uavcan::mavlink::Message> sub(sch, poolmgr);
ASSERT_EQ(0, sch.getDispatcher().getNumMessageListeners());
uavcan::Subscriber<uavcan::mavlink::Message> sub(node);
ASSERT_EQ(0, node.getDispatcher().getNumMessageListeners());
sub.start(panickingSink);
ASSERT_EQ(1, sch.getDispatcher().getNumMessageListeners());
ASSERT_EQ(1, node.getDispatcher().getNumMessageListeners());
ASSERT_EQ(0, sub.getFailureCount());
@@ -229,36 +216,29 @@ TEST(Subscriber, FailureCount)
can_driver.ifaces[1].pushRx(rx_frame);
}
ASSERT_LE(0, sch.spin(clock_driver.getMonotonic() + durMono(10000)));
ASSERT_LE(0, node.spin(clock_driver.getMonotonic() + durMono(10000)));
ASSERT_EQ(4, sub.getFailureCount());
ASSERT_EQ(1, sch.getDispatcher().getNumMessageListeners()); // Still there
ASSERT_EQ(1, node.getDispatcher().getNumMessageListeners()); // Still there
}
ASSERT_EQ(0, sch.getDispatcher().getNumMessageListeners()); // Removed
ASSERT_EQ(0, node.getDispatcher().getNumMessageListeners()); // Removed
}
TEST(Subscriber, SingleFrameTransfer)
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
uavcan::PoolManager<1> poolmgr;
poolmgr.addPool(&pool);
// Manual type registration - we can't rely on the GDTR state
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<root_ns_a::EmptyMessage> _registrator;
SystemClockDriver clock_driver;
CanDriverMock can_driver(2, clock_driver);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Scheduler sch(can_driver, poolmgr, clock_driver, out_trans_reg, uavcan::NodeID(1));
TestNode node(can_driver, clock_driver, 1);
typedef SubscriptionListener<root_ns_a::EmptyMessage> Listener;
uavcan::Subscriber<root_ns_a::EmptyMessage, Listener::SimpleBinder> sub(sch, poolmgr);
uavcan::Subscriber<root_ns_a::EmptyMessage, Listener::SimpleBinder> sub(node);
std::cout <<
"sizeof(uavcan::Subscriber<root_ns_a::EmptyMessage, Listener::SimpleBinder>): " <<
@@ -280,7 +260,7 @@ TEST(Subscriber, SingleFrameTransfer)
can_driver.ifaces[1].pushRx(rx_frame);
}
ASSERT_LE(0, sch.spin(clock_driver.getMonotonic() + durMono(10000)));
ASSERT_LE(0, node.spin(clock_driver.getMonotonic() + durMono(10000)));
ASSERT_EQ(0, sub.getFailureCount());
libuavcan/test/node/test_node.hpp
+31
View File
@@ -0,0 +1,31 @@
/*
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#pragma once
#include <uavcan/node/abstract_node.hpp>
#include <uavcan/util/lazy_constructor.hpp>
struct TestNode : public uavcan::INode
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
uavcan::PoolManager<1> poolmgr;
uavcan::MarshalBufferProvider<> buffer_provider;
uavcan::OutgoingTransferRegistry<8> otr;
uavcan::Scheduler scheduler;
TestNode(uavcan::ICanDriver& can_driver, uavcan::ISystemClock& clock_driver, uavcan::NodeID self_node_id)
: otr(poolmgr)
, scheduler(can_driver, poolmgr, clock_driver, otr)
{
poolmgr.addPool(&pool);
setNodeID(self_node_id);
}
uavcan::PoolManager<1>& getAllocator() { return poolmgr; }
uavcan::Scheduler& getScheduler() { return scheduler; }
const uavcan::Scheduler& getScheduler() const { return scheduler; }
uavcan::IMarshalBufferProvider& getMarshalBufferProvider() { return buffer_provider; }
};