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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/transport/dispatcher.cpp
+10 -3
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@@ -43,7 +43,10 @@ TEST(Dispatcher, Reception)
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg, SELF_NODE_ID);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
ASSERT_TRUE(dispatcher.setNodeID(SELF_NODE_ID)); // Can be set only once
ASSERT_FALSE(dispatcher.setNodeID(SELF_NODE_ID));
ASSERT_EQ(SELF_NODE_ID, dispatcher.getNodeID());
DispatcherTransferEmulator emulator(driver, SELF_NODE_ID);
@@ -192,7 +195,9 @@ TEST(Dispatcher, Transmission)
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg, SELF_NODE_ID);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
ASSERT_TRUE(dispatcher.setNodeID(SELF_NODE_ID)); // Can be set only once
ASSERT_FALSE(dispatcher.setNodeID(SELF_NODE_ID));
/*
* Transmission
@@ -229,7 +234,9 @@ TEST(Dispatcher, Spin)
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg, SELF_NODE_ID);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
ASSERT_TRUE(dispatcher.setNodeID(SELF_NODE_ID)); // Can be set only once
ASSERT_FALSE(dispatcher.setNodeID(SELF_NODE_ID));
clockmock.monotonic_auto_advance = 100;