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Superrefactoring - all time values were replaced with new safer classes from uavcan/time.hpp; generated types were moved away from anonymous namespaces because this makes it impossible to use a type from different compilation units. Some less vital fixes are to follow - see the next few commits

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This commit is contained in:
Pavel Kirienko
2014-03-11 14:41:48 +04:00
parent 633fa9d8bd
commit 65a4dcc2cf
48 changed files with 654 additions and 565 deletions
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libuavcan/test/internal/transport/can/io.cpp
+28 -29
View File
@@ -5,9 +5,8 @@
#include <gtest/gtest.h>
#include "can.hpp"
static bool rxFrameEquals(const uavcan::CanRxFrame& rxframe, const uavcan::CanFrame& frame,
uint64_t timestamp, int iface_index)
uint64_t timestamp_usec, int iface_index)
{
if (static_cast<const uavcan::CanFrame&>(rxframe) != frame)
{
@@ -16,7 +15,7 @@ static bool rxFrameEquals(const uavcan::CanRxFrame& rxframe, const uavcan::CanFr
<< " " << frame.toString(uavcan::CanFrame::StrAligned) << std::endl;
}
return (static_cast<const uavcan::CanFrame&>(rxframe) == frame) &&
(rxframe.ts_monotonic == timestamp) && (rxframe.iface_index == iface_index);
(rxframe.ts_mono == uavcan::MonotonicTime::fromUSec(timestamp_usec)) && (rxframe.iface_index == iface_index);
}
TEST(CanIOManager, Reception)
@@ -38,7 +37,7 @@ TEST(CanIOManager, Reception)
* Empty, will time out
*/
uavcan::CanRxFrame frame;
EXPECT_EQ(0, iomgr.receive(frame, 100));
EXPECT_EQ(0, iomgr.receive(frame, tsMono(100)));
EXPECT_EQ(100, clockmock.monotonic);
EXPECT_EQ(100, clockmock.utc);
@@ -61,36 +60,36 @@ TEST(CanIOManager, Reception)
driver.ifaces.at(1).pushRx(frames[1][2]);
clockmock.advance(10);
EXPECT_EQ(1, iomgr.receive(frame, 0));
EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime()));
EXPECT_TRUE(rxFrameEquals(frame, frames[0][0], 110, 0));
EXPECT_EQ(1, iomgr.receive(frame, 0));
EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime()));
EXPECT_TRUE(rxFrameEquals(frame, frames[0][1], 120, 0));
EXPECT_EQ(1, iomgr.receive(frame, 0));
EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime()));
EXPECT_TRUE(rxFrameEquals(frame, frames[0][2], 130, 0));
EXPECT_EQ(1, iomgr.receive(frame, 0));
EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime()));
EXPECT_TRUE(rxFrameEquals(frame, frames[1][0], 110, 1));
EXPECT_EQ(1, iomgr.receive(frame, 0));
EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime()));
EXPECT_TRUE(rxFrameEquals(frame, frames[1][1], 120, 1));
EXPECT_EQ(1, iomgr.receive(frame, 0));
EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime()));
EXPECT_TRUE(rxFrameEquals(frame, frames[1][2], 130, 1));
EXPECT_EQ(0, iomgr.receive(frame, 0)); // Will time out
EXPECT_EQ(0, iomgr.receive(frame, uavcan::MonotonicTime())); // Will time out
/*
* Errors
*/
driver.select_failure = true;
EXPECT_EQ(-1, iomgr.receive(frame, 0));
EXPECT_EQ(-1, iomgr.receive(frame, uavcan::MonotonicTime()));
driver.select_failure = false;
driver.ifaces.at(1).pushRx(frames[0][0]);
driver.ifaces.at(1).rx_failure = true;
EXPECT_EQ(-1, iomgr.receive(frame, 0));
EXPECT_EQ(-1, iomgr.receive(frame, uavcan::MonotonicTime()));
driver.ifaces.at(0).num_errors = 9000;
driver.ifaces.at(1).num_errors = 100500;
@@ -127,11 +126,11 @@ TEST(CanIOManager, Transmission)
/*
* Simple transmission
*/
EXPECT_EQ(2, iomgr.send(frames[0], 100, 0, ALL_IFACES_MASK, CanTxQueue::Volatile)); // To both
EXPECT_EQ(2, iomgr.send(frames[0], tsMono(100), tsMono(0), ALL_IFACES_MASK, CanTxQueue::Volatile)); // To both
EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[0], 100));
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[0], 100));
EXPECT_EQ(1, iomgr.send(frames[1], 200, 100, 2, CanTxQueue::Persistent)); // To #1
EXPECT_EQ(1, iomgr.send(frames[1], tsMono(200), tsMono(100), 2, CanTxQueue::Persistent)); // To #1
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[1], 200));
EXPECT_EQ(0, clockmock.monotonic);
@@ -148,7 +147,7 @@ TEST(CanIOManager, Transmission)
// Sending to both, #0 blocked
driver.ifaces.at(0).writeable = false;
EXPECT_LT(0, iomgr.send(frames[0], 201, 200, ALL_IFACES_MASK, CanTxQueue::Persistent));
EXPECT_LT(0, iomgr.send(frames[0], tsMono(201), tsMono(200), ALL_IFACES_MASK, CanTxQueue::Persistent));
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[0], 201));
EXPECT_EQ(200, clockmock.monotonic);
EXPECT_EQ(200, clockmock.utc);
@@ -158,11 +157,11 @@ TEST(CanIOManager, Transmission)
// Sending to both, both blocked
driver.ifaces.at(1).writeable = false;
EXPECT_EQ(0, iomgr.send(frames[1], 777, 300, ALL_IFACES_MASK, CanTxQueue::Volatile));
EXPECT_EQ(0, iomgr.send(frames[1], tsMono(777), tsMono(300), ALL_IFACES_MASK, CanTxQueue::Volatile));
EXPECT_EQ(3, pool.getNumUsedBlocks()); // Total 3 frames in TX queue now
// Sending to #0, both blocked
EXPECT_EQ(0, iomgr.send(frames[2], 888, 400, 1, CanTxQueue::Persistent));
EXPECT_EQ(0, iomgr.send(frames[2], tsMono(888), tsMono(400), 1, CanTxQueue::Persistent));
EXPECT_EQ(400, clockmock.monotonic);
EXPECT_EQ(400, clockmock.utc);
EXPECT_TRUE(driver.ifaces.at(0).tx.empty());
@@ -176,7 +175,7 @@ TEST(CanIOManager, Transmission)
// Sending to #1, both writeable
driver.ifaces.at(0).writeable = true;
driver.ifaces.at(1).writeable = true;
EXPECT_LT(0, iomgr.send(frames[0], 999, 500, 2, CanTxQueue::Persistent)); // One frame per each iface will be sent
EXPECT_LT(0, iomgr.send(frames[0], tsMono(999), tsMono(500), 2, CanTxQueue::Persistent)); // One frame per each iface will be sent
EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[1], 777)); // Note that frame[0] on iface #0 has expired
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[0], 999)); // In different order due to prioritization
EXPECT_TRUE(driver.ifaces.at(0).tx.empty());
@@ -184,7 +183,7 @@ TEST(CanIOManager, Transmission)
// Calling receive() to flush the rest two frames
uavcan::CanRxFrame dummy_rx_frame;
EXPECT_EQ(0, iomgr.receive(dummy_rx_frame, 0));
EXPECT_EQ(0, iomgr.receive(dummy_rx_frame, tsMono(0)));
EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[2], 888));
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[1], 777));
@@ -202,9 +201,9 @@ TEST(CanIOManager, Transmission)
driver.ifaces.at(1).writeable = false;
// Sending 5 frames, one will be rejected
EXPECT_EQ(0, iomgr.send(frames[2], 2222, 1000, ALL_IFACES_MASK, CanTxQueue::Persistent));
EXPECT_EQ(0, iomgr.send(frames[0], 3333, 1100, 2, CanTxQueue::Persistent));
EXPECT_EQ(0, iomgr.send(frames[1], 4444, 1200, ALL_IFACES_MASK, CanTxQueue::Volatile)); // One frame kicked here
EXPECT_EQ(0, iomgr.send(frames[2], tsMono(2222), tsMono(1000), ALL_IFACES_MASK, CanTxQueue::Persistent));
EXPECT_EQ(0, iomgr.send(frames[0], tsMono(3333), tsMono(1100), 2, CanTxQueue::Persistent));
EXPECT_EQ(0, iomgr.send(frames[1], tsMono(4444), tsMono(1200), ALL_IFACES_MASK, CanTxQueue::Volatile)); // One frame kicked here
// State checks
EXPECT_EQ(4, pool.getNumUsedBlocks()); // TX queue is full
@@ -222,12 +221,12 @@ TEST(CanIOManager, Transmission)
// This shall transmit _some_ frames now, at least one per iface (exact number can be changed - it will be OK)
uavcan::CanRxFrame rx_frame;
EXPECT_EQ(1, iomgr.receive(rx_frame, 0)); // Non-blocking
EXPECT_EQ(1, iomgr.receive(rx_frame, tsMono(0))); // Non-blocking
EXPECT_TRUE(rxFrameEquals(rx_frame, rx_frames[0], 1200, 0));
EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[1], 4444));
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[0], 3333));
EXPECT_EQ(1, iomgr.receive(rx_frame, 0));
EXPECT_EQ(1, iomgr.receive(rx_frame, tsMono(0)));
EXPECT_TRUE(rxFrameEquals(rx_frame, rx_frames[1], 1200, 1));
EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[2], 2222));
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[2], 2222)); // Iface #1, frame[1] was rejected (VOLATILE)
@@ -246,8 +245,8 @@ TEST(CanIOManager, Transmission)
*/
// Select failure
driver.select_failure = true;
EXPECT_EQ(-1, iomgr.receive(rx_frame, 2000));
EXPECT_EQ(-1, iomgr.send(frames[0], 2100, 2000, ALL_IFACES_MASK, CanTxQueue::Volatile));
EXPECT_EQ(-1, iomgr.receive(rx_frame, tsMono(2000)));
EXPECT_EQ(-1, iomgr.send(frames[0], tsMono(2100), tsMono(2000), ALL_IFACES_MASK, CanTxQueue::Volatile));
EXPECT_EQ(1200, clockmock.monotonic);
EXPECT_EQ(1200, clockmock.utc);
@@ -257,14 +256,14 @@ TEST(CanIOManager, Transmission)
driver.ifaces.at(1).writeable = true;
driver.ifaces.at(0).tx_failure = true;
driver.ifaces.at(1).tx_failure = true;
EXPECT_GE(0, iomgr.send(frames[0], 2200, 0, ALL_IFACES_MASK, CanTxQueue::Persistent)); // Non-blocking - return < 0
EXPECT_GE(0, iomgr.send(frames[0], tsMono(2200), tsMono(0), ALL_IFACES_MASK, CanTxQueue::Persistent)); // Non-blocking - return < 0
ASSERT_EQ(2, pool.getNumUsedBlocks()); // Untransmitted frames will be buffered
// Failure removed - transmission shall proceed
driver.ifaces.at(0).tx_failure = false;
driver.ifaces.at(1).tx_failure = false;
EXPECT_EQ(0, iomgr.receive(rx_frame, 2500));
EXPECT_EQ(0, iomgr.receive(rx_frame, tsMono(2500)));
EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[0], 2200));
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[0], 2200));
EXPECT_EQ(0, pool.getNumUsedBlocks()); // All transmitted