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Proper allocation logic with basic test

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This commit is contained in:
Pavel Kirienko
2015-05-08 23:12:57 +03:00
parent aca9fcb12c
commit 69c361e259
3 changed files with 203 additions and 7 deletions
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libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
+52
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@@ -85,6 +85,11 @@ class CommitHandler : public uavcan::dynamic_node_id_server_impl::ILeaderLogComm
std::cout << "ENTRY COMMITTED [" << id_ << "]\n" << entry << std::endl;
}
virtual void onLeaderChange(bool local_node_is_leader)
{
std::cout << "I AM LEADER: " << (local_node_is_leader ? "YES" : "NOT ANYMORE") << std::endl;
}
public:
CommitHandler(const std::string& id) : id_(id) { }
};
@@ -1040,6 +1045,53 @@ TEST(DynamicNodeIDAllocationServer, AllocationRequestManager)
}
TEST(DynamicNodeIDAllocationServer, Main)
{
using namespace uavcan::dynamic_node_id_server_impl;
using namespace uavcan::protocol::dynamic_node_id;
using namespace uavcan::protocol::dynamic_node_id::server;
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<Discovery> _reg1;
uavcan::DefaultDataTypeRegistrator<AppendEntries> _reg2;
uavcan::DefaultDataTypeRegistrator<RequestVote> _reg3;
uavcan::DefaultDataTypeRegistrator<Allocation> _reg4;
EventTracer tracer;
StorageBackend storage;
// Node A is Allocator, Node B is Allocatee
InterlinkedTestNodesWithSysClock nodes(uavcan::NodeID(10), uavcan::NodeID::Broadcast);
/*
* Server
*/
uavcan::DynamicNodeIDAllocationServer server(nodes.a, storage, tracer);
ASSERT_LE(0, server.init(1));
/*
* Client
*/
uavcan::DynamicNodeIDAllocationClient client(nodes.b);
uavcan::protocol::HardwareVersion hwver;
for (uavcan::uint8_t i = 0; i < hwver.unique_id.size(); i++)
{
hwver.unique_id[i] = i;
}
const uavcan::NodeID PreferredNodeID = 42;
ASSERT_LE(0, client.start(hwver, PreferredNodeID));
/*
* Fire
*/
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(4000));
ASSERT_TRUE(client.isAllocationComplete());
ASSERT_EQ(PreferredNodeID, client.getAllocatedNodeID());
}
TEST(DynamicNodeIDAllocationServer, ObjectSizes)
{
std::cout << "Log: "