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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_test_helpers.cpp
+14 -15
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@@ -15,8 +15,7 @@ TEST(TransferTestHelpers, Transfer)
uavcan::TransferBufferManager<128, 1> mgr(&poolmgr);
uavcan::TransferBufferAccessor tba(&mgr, uavcan::TransferBufferManagerKey(0, uavcan::TRANSFER_TYPE_MESSAGE_UNICAST));
uavcan::RxFrame frame;
frame.last_frame = true;
uavcan::RxFrame frame(uavcan::Frame(123, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 1, 0, 0, 0, true), 0, 0, 0);
uavcan::MultiFrameIncomingTransfer mfit(10, 1000, frame, tba);
// Filling the buffer with data
@@ -38,7 +37,7 @@ TEST(TransferTestHelpers, MFTSerialization)
type.hash.value[i] = i;
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::TRANSFER_TYPE_MESSAGE_UNICAST, 12, 42, DATA);
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_MESSAGE_UNICAST, 2, 42, DATA);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, 127, type);
@@ -49,9 +48,9 @@ TEST(TransferTestHelpers, MFTSerialization)
for (std::vector<uavcan::RxFrame>::const_iterator it = ser.begin(); it != ser.end(); ++it)
{
std::cout << "\t'";
for (int i = 0; i < it->payload_len; i++)
for (int i = 0; i < it->getPayloadLen(); i++)
{
uint8_t ch = it->payload[i];
uint8_t ch = it->getPayloadPtr()[i];
if (ch < 0x20 || ch > 0x7E)
ch = '.';
std::cout << static_cast<char>(ch);
@@ -69,25 +68,25 @@ TEST(TransferTestHelpers, SFTSerialization)
type.hash.value[i] = i;
{
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 12, 42, "Nvrfrget");
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 7, 42, "Nvrfrget");
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, 0, type);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
}
{
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_SERVICE_REQUEST, 7, 42, "7-chars");
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, 127, type);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
}
{
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_SERVICE_REQUEST, 12, 42, "7-chars");
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, 127, type);
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 7, 42, "");
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, 0, type);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
}
{
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 12, 42, "");
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, 127, type);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
}
{
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_SERVICE_RESPONSE, 12, 42, "");
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_SERVICE_RESPONSE, 7, 42, "");
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, 127, type);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";