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RX frames have two timestamps: monotonic - for protocol timings management; utc - for application-level timestamping

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This commit is contained in:
Pavel Kirienko
2014-02-11 14:32:45 +04:00
parent b8f6bf3ffa
commit 696451baca
10 changed files with 85 additions and 62 deletions
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libuavcan/test/transport/transfer.cpp
+7 -6
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@@ -147,11 +147,11 @@ TEST(Transfer, RxFrameParse)
// Default
can_rx_frame.id = CanFrame::FLAG_EFF;
ASSERT_TRUE(rx_frame.parse(can_rx_frame));
ASSERT_EQ(0, rx_frame.timestamp);
ASSERT_EQ(0, rx_frame.ts_monotonic);
ASSERT_EQ(0, rx_frame.iface_index);
// Custom
can_rx_frame.timestamp = 123;
can_rx_frame.ts_monotonic = 123;
can_rx_frame.iface_index = 2;
Frame frame;
@@ -160,7 +160,7 @@ TEST(Transfer, RxFrameParse)
*static_cast<CanFrame*>(&can_rx_frame) = frame.compile();
ASSERT_TRUE(rx_frame.parse(can_rx_frame));
ASSERT_EQ(123, rx_frame.timestamp);
ASSERT_EQ(123, rx_frame.ts_monotonic);
ASSERT_EQ(2, rx_frame.iface_index);
ASSERT_EQ(456, rx_frame.data_type_id);
ASSERT_EQ(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, rx_frame.transfer_type);
@@ -174,7 +174,7 @@ TEST(Transfer, FrameToString)
// RX frame default
RxFrame rx_frame;
EXPECT_EQ("dtid=0 tt=0 snid=0 idx=0 last=0 tid=0 payload=[] ts=0 iface=0", rx_frame.toString());
EXPECT_EQ("dtid=0 tt=0 snid=0 idx=0 last=0 tid=0 payload=[] ts_m=0 ts_utc=0 iface=0", rx_frame.toString());
// RX frame max len
rx_frame.data_type_id = Frame::DATA_TYPE_ID_MAX;
@@ -186,11 +186,12 @@ TEST(Transfer, FrameToString)
rx_frame.payload_len = Frame::PAYLOAD_LEN_MAX;
for (int i = 0; i < rx_frame.payload_len; i++)
rx_frame.payload[i] = i;
rx_frame.timestamp = 0xFFFFFFFFFFFFFFFF;
rx_frame.ts_monotonic = 0xFFFFFFFFFFFFFFFF;
rx_frame.ts_utc = 0xFFFFFFFFFFFFFFFF;
rx_frame.iface_index = 3;
EXPECT_EQ(
"dtid=1023 tt=3 snid=127 idx=31 last=1 tid=15 payload=[00 01 02 03 04 05 06 07] ts=18446744073709551615 iface=3",
"dtid=1023 tt=3 snid=127 idx=31 last=1 tid=15 payload=[00 01 02 03 04 05 06 07] ts_m=18446744073709551615 ts_utc=18446744073709551615 iface=3",
rx_frame.toString());
// Plain frame default