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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/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])
};
/*