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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/transfer_receiver.cpp
+45 -43
View File
@@ -5,6 +5,7 @@
#include <algorithm>
#include <gtest/gtest.h>
#include <uavcan/internal/transport/transfer_receiver.hpp>
#include "../../clock.hpp"
/*
* Beware!
@@ -37,7 +38,8 @@ struct RxFrameGenerator
EXPECT_EQ(data.length(), frame.setPayload(reinterpret_cast<const uint8_t*>(data.c_str()), data.length()));
return uavcan::RxFrame(frame, ts_monotonic, ts_utc, iface_index);
return uavcan::RxFrame(frame, uavcan::MonotonicTime::fromUSec(ts_monotonic),
uavcan::UtcTime::fromUSec(ts_utc), iface_index);
}
};
@@ -101,15 +103,15 @@ TEST(TransferReceiver, Basic)
/*
* Empty
*/
ASSERT_EQ(TransferReceiver::DefaultTransferInterval, rcv.getInterval());
ASSERT_EQ(0, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval());
ASSERT_EQ(0, rcv.getLastTransferTimestampMonotonic().toUSec());
/*
* Single frame transfer with zero ts, must be ignored
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "Foo", 0, true, 0, 0), bk));
ASSERT_EQ(TransferReceiver::DefaultTransferInterval, rcv.getInterval());
ASSERT_EQ(0, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval());
ASSERT_EQ(0, rcv.getLastTransferTimestampMonotonic().toUSec());
/*
* Valid compound transfer
@@ -120,8 +122,8 @@ TEST(TransferReceiver, Basic)
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678foo"));
ASSERT_EQ(0x1234, rcv.getLastTransferCrc());
ASSERT_EQ(TransferReceiver::DefaultTransferInterval, rcv.getInterval()); // Not initialized yet
ASSERT_EQ(100, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval()); // Not initialized yet
ASSERT_EQ(100, rcv.getLastTransferTimestampMonotonic().toUSec());
/*
* Compound transfer mixed with invalid frames; buffer was not released explicitly
@@ -138,12 +140,12 @@ TEST(TransferReceiver, Basic)
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678abcdefgh"));
ASSERT_EQ(0x789A, rcv.getLastTransferCrc());
ASSERT_GT(TransferReceiver::DefaultTransferInterval, rcv.getInterval());
ASSERT_LT(TransferReceiver::MinTransferInterval, rcv.getInterval());
ASSERT_EQ(1000, rcv.getLastTransferTimestampMonotonic());
ASSERT_FALSE(rcv.isTimedOut(1000));
ASSERT_FALSE(rcv.isTimedOut(5000));
ASSERT_TRUE(rcv.isTimedOut(60000000));
ASSERT_GT(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval());
ASSERT_LT(TransferReceiver::getMinTransferInterval(), rcv.getInterval());
ASSERT_EQ(1000, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_FALSE(rcv.isTimedOut(tsMono(1000)));
ASSERT_FALSE(rcv.isTimedOut(tsMono(5000)));
ASSERT_TRUE(rcv.isTimedOut(tsMono(60000000)));
/*
* Single-frame transfers
@@ -153,11 +155,11 @@ TEST(TransferReceiver, Basic)
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 2, 2200), bk));
ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer must be removed
ASSERT_GT(TransferReceiver::DefaultTransferInterval, rcv.getInterval());
ASSERT_EQ(2200, rcv.getLastTransferTimestampMonotonic());
ASSERT_GT(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval());
ASSERT_EQ(2200, rcv.getLastTransferTimestampMonotonic().toUSec());
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", 0, true, 3, 2500), bk));
ASSERT_EQ(2500, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(2500, rcv.getLastTransferTimestampMonotonic().toUSec());
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 0, 3000), bk)); // Old TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 1, 3100), bk)); // Old TID
@@ -166,38 +168,38 @@ TEST(TransferReceiver, Basic)
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 2, 3400), bk)); // Old TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 3, 3500), bk)); // Old TID, wrong iface
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", 0, true, 4, 3600), bk));
ASSERT_EQ(3600, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(3600, rcv.getLastTransferTimestampMonotonic().toUSec());
/*
* Timeouts
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 1, 100000), bk)); // Wrong iface - ignored
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 6, 600000), bk)); // Accepted due to iface timeout
ASSERT_EQ(600000, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(600000, rcv.getLastTransferTimestampMonotonic().toUSec());
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, true, 7, 600100), bk));// Ignored - old iface 0
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 7, 600100), bk));
ASSERT_EQ(600100, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(600100, rcv.getLastTransferTimestampMonotonic().toUSec());
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 7, 600100), bk)); // Old TID
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 7, 100000000), bk));// Accepted - global timeout
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 0, 100000100), bk));
ASSERT_EQ(100000100, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(100000100, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_TRUE(rcv.isTimedOut(900000000));
ASSERT_TRUE(rcv.isTimedOut(tsMono(900000000)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "\x78\x56" "345678", 0, false, 0, 900000000), bk));// Global timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 0, 900000100), bk));// Wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 1, true, 0, 900000200), bk));// Wrong iface
CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", 1, true, 0, 900000200), bk));
ASSERT_EQ(900000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_FALSE(rcv.isTimedOut(1000));
ASSERT_FALSE(rcv.isTimedOut(900000200));
ASSERT_TRUE(rcv.isTimedOut(1000 * 1000000));
ASSERT_LT(TransferReceiver::DefaultTransferInterval, rcv.getInterval());
ASSERT_LE(TransferReceiver::MinTransferInterval, rcv.getInterval());
ASSERT_GE(TransferReceiver::MaxTransferInterval, rcv.getInterval());
ASSERT_EQ(900000000, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_FALSE(rcv.isTimedOut(tsMono(1000)));
ASSERT_FALSE(rcv.isTimedOut(tsMono(900000200)));
ASSERT_TRUE(rcv.isTimedOut(tsMono(1000 * 1000000)));
ASSERT_LT(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval());
ASSERT_LE(TransferReceiver::getMinTransferInterval(), rcv.getInterval());
ASSERT_GE(TransferReceiver::getMaxTransferInterval(), rcv.getInterval());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwe"));
ASSERT_EQ(0x5678, rcv.getLastTransferCrc());
@@ -227,7 +229,7 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 1, 100000300), bk)); // 30
CHECK_COMPLETE( rcv.addFrame(gen(1, "12", 4, true, 1, 100000400), bk)); // 32
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567812345678123456781234567812"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc()); // CRC from "12", which is 0x3231 in little endian
@@ -240,7 +242,7 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 2, 100001200), bk)); // 30
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 4, true, 2, 100001300), bk)); // 38 // EOT, ignored - lost sync
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic()); // Timestamp will not be overriden
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec()); // Timestamp will not be overriden
ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer should be removed
}
@@ -260,7 +262,7 @@ TEST(TransferReceiver, UnterminatedTransfer)
content += "12345678";
}
CHECK_COMPLETE(rcv.addFrame(gen(1, "12345678", uavcan::Frame::MaxIndex, true, 0, 1100), bk));
ASSERT_EQ(1000, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(1000, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), std::string(content, 2)));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
}
@@ -281,7 +283,7 @@ TEST(TransferReceiver, OutOfOrderFrames)
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 4, true, 7, 100000200), bk)); // Out of order
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 7, 100000400), bk));
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
}
@@ -307,13 +309,13 @@ TEST(TransferReceiver, IntervalMeasurement)
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
ASSERT_EQ(timestamp, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(timestamp, rcv.getLastTransferTimestampMonotonic().toUSec());
timestamp += INTERVAL;
tid.increment();
}
ASSERT_EQ(INTERVAL, rcv.getInterval());
ASSERT_EQ(INTERVAL, rcv.getInterval().toUSec());
}
@@ -375,8 +377,8 @@ TEST(TransferReceiver, UtcTransferTimestamping)
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 0, 3, 0), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
ASSERT_EQ(1, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(0, rcv.getLastTransferTimestampUtc());
ASSERT_EQ(1, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_EQ(0, rcv.getLastTransferTimestampUtc().toUSec());
/*
* Non-zero UTC timestamp
@@ -386,15 +388,15 @@ TEST(TransferReceiver, UtcTransferTimestamping)
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 1, 6, 42), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
ASSERT_EQ(4, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(123, rcv.getLastTransferTimestampUtc());
ASSERT_EQ(4, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_EQ(123, rcv.getLastTransferTimestampUtc().toUSec());
/*
* Single-frame transfers
*/
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "abc", 0, true, 2, 10, 100000000), bk)); // Exact value is irrelevant
ASSERT_EQ(10, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(100000000, rcv.getLastTransferTimestampUtc());
ASSERT_EQ(10, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_EQ(100000000, rcv.getLastTransferTimestampUtc().toUSec());
/*
* Restart recovery
@@ -404,8 +406,8 @@ TEST(TransferReceiver, UtcTransferTimestamping)
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", 2, true, 1, 100000002, 900000000), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(800000000, rcv.getLastTransferTimestampUtc());
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_EQ(800000000, rcv.getLastTransferTimestampUtc().toUSec());
}