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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_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());
}