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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_test_helpers.cpp
+10 -5
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@@ -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";