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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/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());
}