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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/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());