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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
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@@ -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;