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Refactoring: Frame Index field size increased, Trnasfer ID field size reduced. NodeID class added, Frame class rewritten with stricter runtime checks. All tests were updated accordingly.

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This commit is contained in:
Pavel Kirienko
2014-02-17 12:35:12 +04:00
parent 20778f1acb
commit 697a55aebb
18 changed files with 544 additions and 489 deletions
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libuavcan/test/transport/incoming_transfer.cpp
+16 -19
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@@ -9,16 +9,13 @@
static uavcan::RxFrame makeFrame()
{
uavcan::RxFrame frame;
frame.data_type_id = 123;
frame.last_frame = true;
frame.source_node_id = 42;
frame.transfer_id.increment();
frame.ts_monotonic = 123;
frame.ts_utc = 456;
frame.payload_len = uavcan::RxFrame::PAYLOAD_LEN_MAX;
for (int i = 0; i < uavcan::RxFrame::PAYLOAD_LEN_MAX; i++)
frame.payload[i] = i;
uavcan::RxFrame frame(
uavcan::Frame(123, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 1, uavcan::NodeID::BROADCAST, 0, 1, true),
123, 456, 0);
uint8_t data[8];
for (unsigned int i = 0; i < sizeof(data); i++)
data[i] = i;
frame.setPayload(data, sizeof(data));
return frame;
}
@@ -27,11 +24,11 @@ static bool match(const uavcan::IncomingTransfer& it, const uavcan::RxFrame& fra
const uint8_t* payload, unsigned int payload_len)
{
// Fields extracted from the frame struct
EXPECT_EQ(it.getMonotonicTimestamp(), frame.ts_monotonic);
EXPECT_EQ(it.getUtcTimestamp(), frame.ts_utc);
EXPECT_EQ(it.getSourceNodeID(), frame.source_node_id);
EXPECT_EQ(it.getTransferID(), frame.transfer_id);
EXPECT_EQ(it.getTransferType(), frame.transfer_type);
EXPECT_EQ(it.getMonotonicTimestamp(), frame.getMonotonicTimestamp());
EXPECT_EQ(it.getUtcTimestamp(), frame.getUtcTimestamp());
EXPECT_EQ(it.getSrcNodeID(), frame.getSrcNodeID());
EXPECT_EQ(it.getTransferID(), frame.getTransferID());
EXPECT_EQ(it.getTransferType(), frame.getTransferType());
// Payload comparison
static const unsigned int BUFLEN = 1024;
@@ -60,9 +57,9 @@ TEST(SingleFrameIncomingTransfer, Basic)
using uavcan::SingleFrameIncomingTransfer;
const RxFrame frame = makeFrame();
SingleFrameIncomingTransfer it(frame, frame.payload, frame.payload_len);
SingleFrameIncomingTransfer it(frame);
ASSERT_TRUE(match(it, frame, frame.payload, frame.payload_len));
ASSERT_TRUE(match(it, frame, frame.getPayloadPtr(), frame.getPayloadLen()));
}
@@ -75,10 +72,10 @@ TEST(MultiFrameIncomingTransfer, Basic)
uavcan::TransferBufferManager<256, 1> bufmgr(&poolmgr);
const RxFrame frame = makeFrame();
uavcan::TransferBufferManagerKey bufmgr_key(frame.source_node_id, frame.transfer_type);
uavcan::TransferBufferManagerKey bufmgr_key(frame.getSrcNodeID(), frame.getTransferType());
uavcan::TransferBufferAccessor tba(&bufmgr, bufmgr_key);
MultiFrameIncomingTransfer it(frame.ts_monotonic, frame.ts_utc, frame, tba);
MultiFrameIncomingTransfer it(frame.getMonotonicTimestamp(), frame.getUtcTimestamp(), frame, tba);
/*
* Empty read must fail