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Unit tests now check frame priorities

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This commit is contained in:
Pavel Kirienko
2015-04-30 15:16:21 +03:00
parent ffe7ad6ae1
commit 65ec6fce2e
5 changed files with 76 additions and 59 deletions
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libuavcan/test/transport/dispatcher.cpp
+9 -9
View File
@@ -100,16 +100,16 @@ TEST(Dispatcher, Reception)
const Transfer transfers[9] =
{
emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 10, DATA[0], TYPES[0]),
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 11, DATA[1], TYPES[1]),
emulator.makeTransfer(uavcan::TransferTypeServiceRequest, 12, DATA[2], TYPES[2]),
emulator.makeTransfer(uavcan::TransferTypeServiceResponse, 13, DATA[4], TYPES[3]),
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 14, DATA[3], TYPES[0]),
emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 15, DATA[5], TYPES[1]),
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageBroadcast, 10, DATA[0], TYPES[0]),
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageUnicast, 11, DATA[1], TYPES[1]),
emulator.makeTransfer(uavcan::TransferPriorityService, uavcan::TransferTypeServiceRequest, 12, DATA[2], TYPES[2]),
emulator.makeTransfer(uavcan::TransferPriorityService, uavcan::TransferTypeServiceResponse, 13, DATA[4], TYPES[3]),
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageUnicast, 14, DATA[3], TYPES[0]),
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageBroadcast, 15, DATA[5], TYPES[1]),
// Wrongly addressed:
emulator.makeTransfer(uavcan::TransferTypeServiceResponse, 10, DATA[0], TYPES[3], 100),
emulator.makeTransfer(uavcan::TransferTypeServiceRequest, 11, DATA[4], TYPES[2], 101),
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 12, DATA[2], TYPES[1], 102)
emulator.makeTransfer(uavcan::TransferPriorityService, uavcan::TransferTypeServiceResponse, 10, DATA[0], TYPES[3], 100),
emulator.makeTransfer(uavcan::TransferPriorityService, uavcan::TransferTypeServiceRequest, 11, DATA[4], TYPES[2], 101),
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageUnicast, 12, DATA[2], TYPES[1], 102)
};
/*
libuavcan/test/transport/transfer_listener.cpp
+28 -27
View File
@@ -22,9 +22,10 @@ public:
void sendOneFrame(const uavcan::RxFrame& frame) { target_.handleFrame(frame); }
Transfer makeTransfer(uavcan::TransferType transfer_type, uint8_t source_node_id, const std::string& payload)
Transfer makeTransfer(uavcan::TransferPriority priority, uavcan::TransferType transfer_type,
uint8_t source_node_id, const std::string& payload)
{
return IncomingTransferEmulatorBase::makeTransfer(transfer_type, source_node_id, payload, data_type_);
return IncomingTransferEmulatorBase::makeTransfer(priority, transfer_type, source_node_id, payload, data_type_);
}
};
@@ -69,11 +70,11 @@ TEST(TransferListener, BasicMFT)
TransferListenerEmulator emulator(subscriber, type);
const Transfer transfers[] =
{
emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 1, DATA[0]),
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 1, DATA[1]), // Same NID
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 2, DATA[2]),
emulator.makeTransfer(uavcan::TransferTypeServiceRequest, 3, DATA[3]),
emulator.makeTransfer(uavcan::TransferTypeServiceResponse, 4, DATA[4]),
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageBroadcast, 1, DATA[0]),
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageUnicast, 1, DATA[1]), // Same NID
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageUnicast, 2, DATA[2]),
emulator.makeTransfer(uavcan::TransferPriorityService, uavcan::TransferTypeServiceRequest, 3, DATA[3]),
emulator.makeTransfer(uavcan::TransferPriorityService, uavcan::TransferTypeServiceResponse, 4, DATA[4]),
};
/*
@@ -104,8 +105,8 @@ TEST(TransferListener, CrcFailure)
* Generating transfers with damaged payload (CRC is not valid)
*/
TransferListenerEmulator emulator(subscriber, type);
const Transfer tr_mft = emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 42, "123456789abcdefghik");
const Transfer tr_sft = emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 11, "abcd");
const Transfer tr_mft = emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageBroadcast, 42, "123456789abcdefghik");
const Transfer tr_sft = emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageUnicast, 11, "abcd");
std::vector<uavcan::RxFrame> ser_mft = serializeTransfer(tr_mft);
std::vector<uavcan::RxFrame> ser_sft = serializeTransfer(tr_sft);
@@ -146,15 +147,15 @@ TEST(TransferListener, BasicSFT)
TransferListenerEmulator emulator(subscriber, type);
const Transfer transfers[] =
{
emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 1, "123"),
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 1, "456"), // Same NID
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 2, ""),
emulator.makeTransfer(uavcan::TransferTypeServiceRequest, 3, "abc"),
emulator.makeTransfer(uavcan::TransferTypeServiceResponse, 4, ""),
emulator.makeTransfer(uavcan::TransferTypeServiceResponse, 2, ""), // New TT, ignored due to OOM
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 2, "foo"), // Same as 2, not ignored
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 2, "123456789abc"), // Same as 2, not SFT - ignore
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 2, "bar"), // Same as 2, not ignored
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageBroadcast, 1, "123"),
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageUnicast, 1, "456"), // Same NID
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageUnicast, 2, ""),
emulator.makeTransfer(uavcan::TransferPriorityService, uavcan::TransferTypeServiceRequest, 3, "abc"),
emulator.makeTransfer(uavcan::TransferPriorityService, uavcan::TransferTypeServiceResponse, 4, ""),
emulator.makeTransfer(uavcan::TransferPriorityService, uavcan::TransferTypeServiceResponse, 2, ""), // New TT, ignored due to OOM
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageUnicast, 2, "foo"), // Same as 2, not ignored
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageUnicast, 2, "123456789abc"), // Same as 2, not SFT - ignore
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageUnicast, 2, "bar"), // Same as 2, not ignored
};
emulator.send(transfers);
@@ -183,8 +184,8 @@ TEST(TransferListener, Cleanup)
* Generating transfers
*/
TransferListenerEmulator emulator(subscriber, type);
const Transfer tr_mft = emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 42, "123456789abcdefghik");
const Transfer tr_sft = emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 11, "abcd");
const Transfer tr_mft = emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageBroadcast, 42, "123456789abcdefghik");
const Transfer tr_sft = emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageUnicast, 11, "abcd");
const std::vector<uavcan::RxFrame> ser_mft = serializeTransfer(tr_mft);
const std::vector<uavcan::RxFrame> ser_sft = serializeTransfer(tr_sft);
@@ -237,11 +238,11 @@ TEST(TransferListener, MaximumTransferLength)
TransferListenerEmulator emulator(subscriber, type);
const Transfer transfers[] =
{
emulator.makeTransfer(uavcan::TransferTypeServiceRequest, 1,
emulator.makeTransfer(uavcan::TransferPriorityService, uavcan::TransferTypeServiceRequest, 1,
std::string(uavcan::MaxServiceTransferPayloadLen, 'z')), // Longer
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 2,
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageUnicast, 2,
std::string(uavcan::MaxMessageUnicastTransferPayloadLen, 'z')), // Shorter
emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 3,
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageBroadcast, 3,
std::string(uavcan::MaxMessageBroadcastTransferPayloadLen, 'z')) // Same as above
};
@@ -266,10 +267,10 @@ TEST(TransferListener, AnonymousTransfers)
TransferListenerEmulator emulator(subscriber, type);
const Transfer transfers[] =
{
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 0, "12345678"), // Invalid - not broadcast
emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 0, "12345678"), // Valid
emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 0, "123456789"), // Invalid - not SFT
emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 0, "") // Valid
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageUnicast, 0, "12345678"), // Invalid - not broadcast
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageBroadcast, 0, "12345678"), // Valid
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageBroadcast, 0, "123456789"), // Invalid - not SFT
emulator.makeTransfer(uavcan::TransferPriorityNormal, uavcan::TransferTypeMessageBroadcast, 0, "") // Valid
};
emulator.send(transfers);
libuavcan/test/transport/transfer_sender.cpp
+14 -9
View File
@@ -8,7 +8,6 @@
#include "can/can.hpp"
#include <uavcan/transport/transfer_sender.hpp>
static int sendOne(uavcan::TransferSender& sender, const std::string& data,
uint64_t monotonic_tx_deadline, uint64_t monotonic_blocking_deadline,
uavcan::TransferType transfer_type, uavcan::NodeID dst_node_id)
@@ -75,8 +74,13 @@ TEST(TransferSender, Basic)
*/
static const uint64_t TX_DEADLINE = 1000000;
// Normal priority
sendOne(senders[0], DATA[0], TX_DEADLINE, 0, uavcan::TransferTypeMessageBroadcast, 0);
// Low priority
senders[0].setPriority(uavcan::TransferPriorityLow);
sendOne(senders[0], DATA[1], TX_DEADLINE, 0, uavcan::TransferTypeMessageUnicast, RX_NODE_ID);
// High priority
senders[0].setPriority(uavcan::TransferPriorityHigh);
sendOne(senders[0], "123", TX_DEADLINE, 0, uavcan::TransferTypeMessageBroadcast, 0);
sendOne(senders[0], "456", TX_DEADLINE, 0, uavcan::TransferTypeMessageUnicast, RX_NODE_ID);
@@ -85,17 +89,18 @@ TEST(TransferSender, Basic)
sendOne(senders[1], "", TX_DEADLINE, 0, uavcan::TransferTypeServiceRequest, RX_NODE_ID);
sendOne(senders[1], "", TX_DEADLINE, 0, uavcan::TransferTypeServiceResponse, RX_NODE_ID, 2);
using namespace uavcan;
static const Transfer TRANSFERS[8] =
{
Transfer(TX_DEADLINE, 0, uavcan::TransferTypeMessageBroadcast, 0, TX_NODE_ID, 0, DATA[0], TYPES[0]),
Transfer(TX_DEADLINE, 0, uavcan::TransferTypeMessageUnicast, 0, TX_NODE_ID, RX_NODE_ID, DATA[1], TYPES[0]),
Transfer(TX_DEADLINE, 0, uavcan::TransferTypeMessageBroadcast, 1, TX_NODE_ID, 0, "123", TYPES[0]),
Transfer(TX_DEADLINE, 0, uavcan::TransferTypeMessageUnicast, 1, TX_NODE_ID, RX_NODE_ID, "456", TYPES[0]),
Transfer(TX_DEADLINE, 0, TransferPriorityNormal, TransferTypeMessageBroadcast, 0, TX_NODE_ID, 0, DATA[0], TYPES[0]),
Transfer(TX_DEADLINE, 0, TransferPriorityLow, TransferTypeMessageUnicast, 0, TX_NODE_ID, RX_NODE_ID, DATA[1], TYPES[0]),
Transfer(TX_DEADLINE, 0, TransferPriorityHigh, TransferTypeMessageBroadcast, 1, TX_NODE_ID, 0, "123", TYPES[0]),
Transfer(TX_DEADLINE, 0, TransferPriorityHigh, TransferTypeMessageUnicast, 1, TX_NODE_ID, RX_NODE_ID, "456", TYPES[0]),
Transfer(TX_DEADLINE, 0, uavcan::TransferTypeServiceRequest, 0, TX_NODE_ID, RX_NODE_ID, DATA[2], TYPES[1]),
Transfer(TX_DEADLINE, 0, uavcan::TransferTypeServiceResponse, 1, TX_NODE_ID, RX_NODE_ID, DATA[3], TYPES[1]),
Transfer(TX_DEADLINE, 0, uavcan::TransferTypeServiceRequest, 1, TX_NODE_ID, RX_NODE_ID, "", TYPES[1]),
Transfer(TX_DEADLINE, 0, uavcan::TransferTypeServiceResponse, 2, TX_NODE_ID, RX_NODE_ID, "", TYPES[1])
Transfer(TX_DEADLINE, 0, TransferPriorityService, TransferTypeServiceRequest, 0, TX_NODE_ID, RX_NODE_ID, DATA[2], TYPES[1]),
Transfer(TX_DEADLINE, 0, TransferPriorityService, TransferTypeServiceResponse, 1, TX_NODE_ID, RX_NODE_ID, DATA[3], TYPES[1]),
Transfer(TX_DEADLINE, 0, TransferPriorityService, TransferTypeServiceRequest, 1, TX_NODE_ID, RX_NODE_ID, "", TYPES[1]),
Transfer(TX_DEADLINE, 0, TransferPriorityService, TransferTypeServiceResponse, 2, TX_NODE_ID, RX_NODE_ID, "", TYPES[1])
};
/*
libuavcan/test/transport/transfer_test_helpers.cpp
+10 -5
View File
@@ -37,7 +37,8 @@ TEST(TransferTestHelpers, MFTSerialization)
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "Foo");
static const std::string DATA = "To go wrong in one's own way is better than to go right in someone else's.";
const Transfer transfer(1, 100000, uavcan::TransferTypeMessageUnicast, 2, 42, 127, DATA, type);
const Transfer transfer(1, 100000, uavcan::TransferPriorityNormal,
uavcan::TransferTypeMessageUnicast, 2, 42, 127, DATA, type);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer);
@@ -70,25 +71,29 @@ TEST(TransferTestHelpers, SFTSerialization)
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "Foo");
{
const Transfer transfer(1, 100000, uavcan::TransferTypeMessageBroadcast, 7, 42, 0, "Nvrfrget", type);
const Transfer transfer(1, 100000, uavcan::TransferPriorityNormal,
uavcan::TransferTypeMessageBroadcast, 7, 42, 0, "Nvrfrget", type);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
}
{
const Transfer transfer(1, 100000, uavcan::TransferTypeServiceRequest, 7, 42, 127, "7-chars", type);
const Transfer transfer(1, 100000, uavcan::TransferPriorityService,
uavcan::TransferTypeServiceRequest, 7, 42, 127, "7-chars", type);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
}
{
const Transfer transfer(1, 100000, uavcan::TransferTypeMessageBroadcast, 7, 42, 0, "", type);
const Transfer transfer(1, 100000, uavcan::TransferPriorityNormal,
uavcan::TransferTypeMessageBroadcast, 7, 42, 0, "", type);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
}
{
const Transfer transfer(1, 100000, uavcan::TransferTypeServiceResponse, 7, 42, 127, "", type);
const Transfer transfer(1, 100000, uavcan::TransferPriorityService,
uavcan::TransferTypeServiceResponse, 7, 42, 127, "", type);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
libuavcan/test/transport/transfer_test_helpers.hpp
+15 -9
View File
@@ -17,6 +17,7 @@ struct Transfer
{
uavcan::MonotonicTime ts_monotonic;
uavcan::UtcTime ts_utc;
uavcan::TransferPriority priority;
uavcan::TransferType transfer_type;
uavcan::TransferID transfer_id;
uavcan::NodeID src_node_id;
@@ -27,6 +28,7 @@ struct Transfer
Transfer(const uavcan::IncomingTransfer& tr, const uavcan::DataTypeDescriptor& data_type)
: ts_monotonic(tr.getMonotonicTimestamp())
, ts_utc(tr.getUtcTimestamp())
, priority(tr.getPriority())
, transfer_type(tr.getTransferType())
, transfer_id(tr.getTransferID())
, src_node_id(tr.getSrcNodeID())
@@ -52,11 +54,12 @@ struct Transfer
}
}
Transfer(uavcan::MonotonicTime ts_monotonic, uavcan::UtcTime ts_utc, uavcan::TransferType transfer_type,
uavcan::TransferID transfer_id, uavcan::NodeID src_node_id, uavcan::NodeID dst_node_id,
const std::string& payload, const uavcan::DataTypeDescriptor& data_type)
Transfer(uavcan::MonotonicTime ts_monotonic, uavcan::UtcTime ts_utc, uavcan::TransferPriority priority,
uavcan::TransferType transfer_type, uavcan::TransferID transfer_id, uavcan::NodeID src_node_id,
uavcan::NodeID dst_node_id, const std::string& payload, const uavcan::DataTypeDescriptor& data_type)
: ts_monotonic(ts_monotonic)
, ts_utc(ts_utc)
, priority(priority)
, transfer_type(transfer_type)
, transfer_id(transfer_id)
, src_node_id(src_node_id)
@@ -65,11 +68,12 @@ struct Transfer
, payload(payload)
{ }
Transfer(uint64_t ts_monotonic, uint64_t ts_utc, uavcan::TransferType transfer_type,
uavcan::TransferID transfer_id, uavcan::NodeID src_node_id, uavcan::NodeID dst_node_id,
const std::string& payload, const uavcan::DataTypeDescriptor& data_type)
Transfer(uint64_t ts_monotonic, uint64_t ts_utc, uavcan::TransferPriority priority,
uavcan::TransferType transfer_type, uavcan::TransferID transfer_id, uavcan::NodeID src_node_id,
uavcan::NodeID dst_node_id, const std::string& payload, const uavcan::DataTypeDescriptor& data_type)
: ts_monotonic(uavcan::MonotonicTime::fromUSec(ts_monotonic))
, ts_utc(uavcan::UtcTime::fromUSec(ts_utc))
, priority(priority)
, transfer_type(transfer_type)
, transfer_id(transfer_id)
, src_node_id(src_node_id)
@@ -83,6 +87,7 @@ struct Transfer
return
(ts_monotonic == rhs.ts_monotonic) &&
((!ts_utc.isZero() && !rhs.ts_utc.isZero()) ? (ts_utc == rhs.ts_utc) : true) &&
(priority == rhs.priority) &&
(transfer_type == rhs.transfer_type) &&
(transfer_id == rhs.transfer_id) &&
(src_node_id == rhs.src_node_id) &&
@@ -96,6 +101,7 @@ struct Transfer
std::ostringstream os;
os << "ts_m=" << ts_monotonic
<< " ts_utc=" << ts_utc
<< " prio=" << priority
<< " tt=" << transfer_type
<< " tid=" << int(transfer_id.get())
<< " snid=" << int(src_node_id.get())
@@ -264,8 +270,8 @@ public:
virtual ~IncomingTransferEmulatorBase() { }
Transfer makeTransfer(uavcan::TransferType transfer_type, uint8_t source_node_id, const std::string& payload,
const uavcan::DataTypeDescriptor& type,
Transfer makeTransfer(uavcan::TransferPriority priority, uavcan::TransferType transfer_type,
uint8_t source_node_id, const std::string& payload, const uavcan::DataTypeDescriptor& type,
uavcan::NodeID dst_node_id_override = uavcan::NodeID())
{
ts_ += uavcan::MonotonicDuration::fromUSec(100);
@@ -273,7 +279,7 @@ public:
const uavcan::NodeID dst_node_id = (transfer_type == uavcan::TransferTypeMessageBroadcast) ?
uavcan::NodeID::Broadcast :
(dst_node_id_override.isValid() ? dst_node_id_override : dst_node_id_);
const Transfer tr(ts_, utc, transfer_type, tid_, source_node_id, dst_node_id, payload, type);
const Transfer tr(ts_, utc, priority, transfer_type, tid_, source_node_id, dst_node_id, payload, type);
tid_.increment();
return tr;
}