fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 03:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Type safe DataTypeID class

Browse Source
This commit is contained in:
Pavel Kirienko
2014-03-11 21:29:35 +04:00
parent befea376c2
commit 62ea9e2746
11 changed files with 73 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/test/data_type.cpp
+1 -1
View File
@@ -96,7 +96,7 @@ TEST(DataTypeSignature, Correctness)
TEST(DataTypeDescriptor, ToString)
{
uavcan::DataTypeDescriptor desc;
ASSERT_EQ(":0s:0000000000000000", desc.toString());
ASSERT_EQ(":65535s:0000000000000000", desc.toString());
desc = uavcan::DataTypeDescriptor(uavcan::DataTypeKindMessage, 123,
uavcan::DataTypeSignature(0xdeadbeef1234), "Bar");
libuavcan/test/internal/transport/frame.cpp
+7 -7
View File
@@ -43,7 +43,7 @@ TEST(Frame, FrameParseCompile)
EXPECT_EQ(29, frame.getIndex());
EXPECT_EQ(uavcan::NodeID(42), frame.getSrcNodeID());
EXPECT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
EXPECT_EQ(456, frame.getDataTypeID());
EXPECT_EQ(456, frame.getDataTypeID().get());
EXPECT_EQ(payload_string.length(), frame.getPayloadLen());
EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
@@ -100,7 +100,7 @@ TEST(Frame, FrameParsing)
ASSERT_EQ(0, frame.getIndex());
ASSERT_EQ(NodeID(42), frame.getSrcNodeID());
ASSERT_EQ(NodeID::Broadcast, frame.getDstNodeID());
ASSERT_EQ(456, frame.getDataTypeID());
ASSERT_EQ(456, frame.getDataTypeID().get());
ASSERT_EQ(TransferID(2), frame.getTransferID());
ASSERT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
ASSERT_EQ(sizeof(CanFrame::data), frame.getMaxPayloadLen());
@@ -125,7 +125,7 @@ TEST(Frame, FrameParsing)
ASSERT_EQ(0, frame.getIndex());
ASSERT_EQ(NodeID(42), frame.getSrcNodeID());
ASSERT_EQ(NodeID(127), frame.getDstNodeID());
ASSERT_EQ(456, frame.getDataTypeID());
ASSERT_EQ(456, frame.getDataTypeID().get());
ASSERT_EQ(TransferID(2), frame.getTransferID());
ASSERT_EQ(uavcan::TransferTypeMessageUnicast, frame.getTransferType());
ASSERT_EQ(sizeof(CanFrame::data) - 1, frame.getMaxPayloadLen());
@@ -199,7 +199,7 @@ TEST(Frame, RxFrameParse)
ASSERT_TRUE(rx_frame.parse(can_rx_frame));
ASSERT_EQ(123, rx_frame.getMonotonicTimestamp().toUSec());
ASSERT_EQ(2, rx_frame.getIfaceIndex());
ASSERT_EQ(456, rx_frame.getDataTypeID());
ASSERT_EQ(456, rx_frame.getDataTypeID().get());
ASSERT_EQ(uavcan::TransferTypeMessageBroadcast, rx_frame.getTransferType());
}
@@ -211,10 +211,10 @@ TEST(Frame, FrameToString)
// RX frame default
RxFrame rx_frame;
EXPECT_EQ("dtid=0 tt=4 snid=255 dnid=255 idx=0 last=0 tid=0 payload=[] ts_m=0.000000 ts_utc=0.000000 iface=0", rx_frame.toString());
EXPECT_EQ("dtid=65535 tt=4 snid=255 dnid=255 idx=0 last=0 tid=0 payload=[] ts_m=0.000000 ts_utc=0.000000 iface=0", rx_frame.toString());
// RX frame max len
rx_frame = RxFrame(Frame(uavcan::DataTypeDescriptor::MaxDataTypeID, uavcan::TransferTypeMessageUnicast,
rx_frame = RxFrame(Frame(uavcan::DataTypeID::Max, uavcan::TransferTypeMessageUnicast,
uavcan::NodeID::Max, uavcan::NodeID::Max - 1, Frame::MaxIndex,
uavcan::TransferID::Max, true),
uavcan::MonotonicTime::getMax(), uavcan::UtcTime::getMax(), 3);
@@ -230,7 +230,7 @@ TEST(Frame, FrameToString)
// Plain frame default
Frame frame;
EXPECT_EQ("dtid=0 tt=4 snid=255 dnid=255 idx=0 last=0 tid=0 payload=[]", frame.toString());
EXPECT_EQ("dtid=65535 tt=4 snid=255 dnid=255 idx=0 last=0 tid=0 payload=[]", frame.toString());
// Plain frame max len
frame = rx_frame;
libuavcan/test/internal/transport/transfer_test_helpers.hpp
+1 -1
View File
@@ -98,7 +98,7 @@ struct Transfer
<< " tid=" << int(transfer_id.get())
<< " snid=" << int(src_node_id.get())
<< " dnid=" << int(dst_node_id.get())
<< " dtid=" << int(data_type.getID())
<< " dtid=" << int(data_type.getID().get())
<< "\n\t'" << payload << "'";
return os.str();
}