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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/transfer.cpp
+54 -72
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@@ -13,40 +13,29 @@ TEST(Transfer, TransferID)
using uavcan::TransferID;
// Tests below are based on this assumption
ASSERT_EQ(16, 1 << TransferID::BITLEN);
ASSERT_EQ(8, 1 << TransferID::BITLEN);
/*
* forwardDistance()
*/
EXPECT_EQ(0, TransferID(0).forwardDistance(0));
EXPECT_EQ(1, TransferID(0).forwardDistance(1));
EXPECT_EQ(15, TransferID(0).forwardDistance(15));
EXPECT_EQ(7, TransferID(0).forwardDistance(7));
EXPECT_EQ(0, TransferID(7).forwardDistance(7));
EXPECT_EQ(15, TransferID(7).forwardDistance(6));
EXPECT_EQ(1, TransferID(7).forwardDistance(8));
EXPECT_EQ(7, TransferID(7).forwardDistance(6));
EXPECT_EQ(1, TransferID(7).forwardDistance(0));
EXPECT_EQ(9, TransferID(10).forwardDistance(3));
EXPECT_EQ(7, TransferID(3).forwardDistance(10));
EXPECT_EQ(8, TransferID(6).forwardDistance(14));
EXPECT_EQ(8, TransferID(14).forwardDistance(6));
EXPECT_EQ(1, TransferID(14).forwardDistance(15));
EXPECT_EQ(2, TransferID(14).forwardDistance(0));
EXPECT_EQ(4, TransferID(14).forwardDistance(2));
EXPECT_EQ(15, TransferID(15).forwardDistance(14));
EXPECT_EQ(14, TransferID(0).forwardDistance(14));
EXPECT_EQ(12, TransferID(2).forwardDistance(14));
EXPECT_EQ(7, TransferID(7).forwardDistance(6));
EXPECT_EQ(5, TransferID(0).forwardDistance(5));
/*
* Misc
*/
EXPECT_TRUE(TransferID(2) == TransferID(2));
EXPECT_FALSE(TransferID(2) != TransferID(2));
EXPECT_FALSE(TransferID(2) == TransferID(8));
EXPECT_TRUE(TransferID(2) != TransferID(8));
EXPECT_FALSE(TransferID(2) == TransferID(0));
EXPECT_TRUE(TransferID(2) != TransferID(0));
TransferID tid;
for (int i = 0; i < 999; i++)
@@ -55,7 +44,7 @@ TEST(Transfer, TransferID)
const TransferID copy = tid;
tid.increment();
ASSERT_EQ(1, copy.forwardDistance(tid));
ASSERT_EQ(15, tid.forwardDistance(copy));
ASSERT_EQ(7, tid.forwardDistance(copy));
ASSERT_EQ(0, tid.forwardDistance(tid));
}
}
@@ -71,10 +60,10 @@ TEST(Transfer, FrameParseCompile)
const uint32_t can_id =
(2 << 0) | // Transfer ID
(1 << 4) | // Last Frame
(29 << 5) | // Frame Index
(1 << 3) | // Last Frame
(29 << 4) | // Frame Index
(42 << 10) | // Source Node ID
(3 << 17) | // Transfer Type
(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST << 17) |
(456 << 19); // Data Type ID
const std::string payload_string = "hello";
@@ -89,32 +78,24 @@ TEST(Transfer, FrameParseCompile)
// Valid
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
EXPECT_EQ(TransferID(2), frame.transfer_id);
EXPECT_TRUE(frame.last_frame);
EXPECT_EQ(29, frame.frame_index);
EXPECT_EQ(42, frame.source_node_id);
EXPECT_EQ(TransferType(3), frame.transfer_type);
EXPECT_EQ(456, frame.data_type_id);
EXPECT_EQ(TransferID(2), frame.getTransferID());
EXPECT_TRUE(frame.isLastFrame());
EXPECT_EQ(29, frame.getFrameIndex());
EXPECT_EQ(uavcan::NodeID(42), frame.getSrcNodeID());
EXPECT_EQ(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, frame.getTransferType());
EXPECT_EQ(456, frame.getDataTypeID());
EXPECT_EQ(payload_string.length(), frame.payload_len);
EXPECT_TRUE(std::equal(frame.payload, frame.payload + frame.payload_len, payload_string.begin()));
// Default
ASSERT_TRUE(frame.parse(CanFrame(CanFrame::FLAG_EFF, (const uint8_t*)"", 0)));
ASSERT_EQ(Frame(), frame);
EXPECT_EQ(payload_string.length(), frame.getPayloadLen());
EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
payload_string.begin()));
/*
* Compile
*/
// Default
frame = Frame();
CanFrame can_frame = frame.compile();
ASSERT_EQ(can_frame.id, CanFrame::FLAG_EFF);
// Custom
CanFrame can_frame;
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
can_frame = frame.compile();
ASSERT_TRUE(frame.compile(can_frame));
ASSERT_EQ(can_frame, makeCanFrame(can_id, payload_string, EXT));
EXPECT_EQ(payload_string.length(), can_frame.dlc);
@@ -144,26 +125,30 @@ TEST(Transfer, RxFrameParse)
// Failure
ASSERT_FALSE(rx_frame.parse(can_rx_frame));
// Default
can_rx_frame.id = CanFrame::FLAG_EFF;
ASSERT_TRUE(rx_frame.parse(can_rx_frame));
ASSERT_EQ(0, rx_frame.ts_monotonic);
ASSERT_EQ(0, rx_frame.iface_index);
// Valid
can_rx_frame.id = CanFrame::FLAG_EFF |
(2 << 0) | // Transfer ID
(1 << 3) | // Last Frame
(29 << 4) | // Frame Index
(42 << 10) | // Source Node ID
(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST << 17) |
(456 << 19); // Data Type ID
ASSERT_TRUE(rx_frame.parse(can_rx_frame));
ASSERT_EQ(0, rx_frame.getMonotonicTimestamp());
ASSERT_EQ(0, rx_frame.getIfaceIndex());
// Custom
can_rx_frame.ts_monotonic = 123;
can_rx_frame.iface_index = 2;
Frame frame;
frame.data_type_id = 456;
frame.transfer_type = uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST;
*static_cast<CanFrame*>(&can_rx_frame) = frame.compile();
Frame frame(456, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 1, uavcan::NodeID::BROADCAST, 0, 0);
ASSERT_TRUE(frame.compile(can_rx_frame));
ASSERT_TRUE(rx_frame.parse(can_rx_frame));
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);
ASSERT_EQ(123, rx_frame.getMonotonicTimestamp());
ASSERT_EQ(2, rx_frame.getIfaceIndex());
ASSERT_EQ(456, rx_frame.getDataTypeID());
ASSERT_EQ(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, rx_frame.getTransferType());
}
@@ -174,31 +159,28 @@ 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_m=0 ts_utc=0 iface=0", rx_frame.toString());
EXPECT_EQ("dtid=0 tt=4 snid=255 dnid=255 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;
rx_frame.transfer_type = uavcan::TransferType(uavcan::NUM_TRANSFER_TYPES - 1);
rx_frame.source_node_id = uavcan::NODE_ID_MAX;
rx_frame.frame_index = Frame::FRAME_INDEX_MAX;
rx_frame.last_frame = true;
rx_frame.transfer_id = uavcan::TransferID::MAX;
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.ts_monotonic = 0xFFFFFFFFFFFFFFFF;
rx_frame.ts_utc = 0xFFFFFFFFFFFFFFFF;
rx_frame.iface_index = 3;
rx_frame = RxFrame(Frame(Frame::DATA_TYPE_ID_MAX, uavcan::TRANSFER_TYPE_MESSAGE_UNICAST,
uavcan::NodeID::MAX, uavcan::NodeID::MAX - 1, Frame::FRAME_INDEX_MAX,
uavcan::TransferID::MAX, true),
0xFFFFFFFFFFFFFFFF, 0xFFFFFFFFFFFFFFFF, 3);
uint8_t data[8];
for (unsigned int i = 0; i < sizeof(data); i++)
data[i] = i;
rx_frame.setPayload(data, sizeof(data));
EXPECT_EQ(
"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",
"dtid=1023 tt=3 snid=127 dnid=126 idx=62 last=1 tid=7 payload=[00 01 02 03 04 05 06] ts_m=18446744073709551615 ts_utc=18446744073709551615 iface=3",
rx_frame.toString());
// Plain frame default
Frame frame;
EXPECT_EQ("dtid=0 tt=0 snid=0 idx=0 last=0 tid=0 payload=[]", frame.toString());
EXPECT_EQ("dtid=0 tt=4 snid=255 dnid=255 idx=0 last=0 tid=0 payload=[]", frame.toString());
// Plain frame max len
frame = rx_frame;
EXPECT_EQ("dtid=1023 tt=3 snid=127 idx=31 last=1 tid=15 payload=[00 01 02 03 04 05 06 07]", frame.toString());
EXPECT_EQ("dtid=1023 tt=3 snid=127 dnid=126 idx=62 last=1 tid=7 payload=[00 01 02 03 04 05 06]", frame.toString());
}