fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-28 04:34:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

Dispatcher reception test

Browse Source
This commit is contained in:
Pavel Kirienko 2014-02-18 16:26:48 +04:00
parent 0bc595d4a8
commit 69eadee72b
4 changed files with 200 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libuavcan/test/common.hpp
View File

@ -14,9 +14,9 @@ public:
uint64_t monotonic;
uint64_t utc;
SystemClockMock()
: monotonic(0)
, utc(0)
SystemClockMock(uint64_t initial = 0)
: monotonic(initial)
, utc(initial)
{ }
void advance(uint64_t usec)

184
libuavcan/test/transport/dispatcher.cpp Normal file
View File

@ -0,0 +1,184 @@
/*
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <memory>
#include <gtest/gtest.h>
#include "transfer_test_helpers.hpp"
#include "can/iface_mock.hpp"
#include <uavcan/internal/transport/dispatcher.hpp>
class DispatcherTransferEmulator : public IncomingTransferEmulatorBase
{
CanDriverMock& target_;
public:
DispatcherTransferEmulator(CanDriverMock& target, uavcan::NodeID dst_node_id = 127)
: IncomingTransferEmulatorBase(dst_node_id)
, target_(target)
{ }
void sendOneFrame(const uavcan::RxFrame& frame)
{
CanIfaceMock* const iface = static_cast<CanIfaceMock*>(target_.getIface(frame.getIfaceIndex()));
EXPECT_TRUE(iface);
if (iface)
iface->pushRx(frame);
}
};
static uavcan::DataTypeDescriptor makeDataType(uavcan::DataTypeKind kind, uint16_t id)
{
uavcan::DataTypeDescriptor dtd(kind, id, uavcan::DataTypeHash());
for (int i = 0; i < uavcan::DataTypeHash::NUM_BYTES; i += 2)
{
dtd.hash.value[i] = id & 0xFF;
dtd.hash.value[i + 1] = id >> 8;
}
return dtd;
}
static const uavcan::NodeID SELF_NODE_ID(64);
TEST(Dispatcher, Reception)
{
uavcan::PoolAllocator<uavcan::MEM_POOL_BLOCK_SIZE * 8, uavcan::MEM_POOL_BLOCK_SIZE> pool;
uavcan::PoolManager<1> poolmgr;
poolmgr.addPool(&pool);
SystemClockMock clockmock(100);
CanDriverMock driver(2, clockmock);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(&poolmgr);
uavcan::Dispatcher dispatcher(&driver, &poolmgr, &clockmock, &out_trans_reg, SELF_NODE_ID);
DispatcherTransferEmulator emulator(driver, SELF_NODE_ID);
/*
* Test environment
*/
static const uavcan::DataTypeDescriptor TYPES[4] =
{
makeDataType(uavcan::DATA_TYPE_KIND_MESSAGE, 1),
makeDataType(uavcan::DATA_TYPE_KIND_MESSAGE, 2),
makeDataType(uavcan::DATA_TYPE_KIND_SERVICE, 1),
makeDataType(uavcan::DATA_TYPE_KIND_SERVICE, 1)
};
typedef TestSubscriber<512, 2, 2> Subscriber;
typedef std::auto_ptr<Subscriber> SubscriberPtr;
static const int NUM_SUBSCRIBERS = 6;
SubscriberPtr subscribers[NUM_SUBSCRIBERS] =
{
SubscriberPtr(new Subscriber(TYPES + 0, &poolmgr)), // msg
SubscriberPtr(new Subscriber(TYPES + 0, &poolmgr)), // msg // Two similar, yes
SubscriberPtr(new Subscriber(TYPES + 1, &poolmgr)), // msg
SubscriberPtr(new Subscriber(TYPES + 2, &poolmgr)), // srv
SubscriberPtr(new Subscriber(TYPES + 3, &poolmgr)), // srv
SubscriberPtr(new Subscriber(TYPES + 3, &poolmgr)) // srv // Repeat again
};
static const std::string DATA[6] =
{
"Yes, man is mortal, but that would be only half the trouble. "
"The worst of it is that he's sometimes unexpectedly mortal - there's the trick!",
"In fact, I'm beginning to fear that this confusion will go on for a long time. "
"And all because he writes down what I said incorrectly.",
"I had the pleasure of meeting that young man at the Patriarch's Ponds. "
"He almost drove me mad myself, proving to me that I don't exist.",
"He was a dreamer, a thinker, a speculative philosopher... or, as his wife would have it, an idiot.",
"The only way to get ideas for stories is to drink way too much coffee and buy a desk that doesn't "
"collapse when you beat your head against it",
""
};
const Transfer transfers[9] =
{
emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 10, DATA[0], TYPES[0]),
emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_UNICAST, 11, DATA[1], TYPES[1]),
emulator.makeTransfer(uavcan::TRANSFER_TYPE_SERVICE_REQUEST, 12, DATA[2], TYPES[2]),
emulator.makeTransfer(uavcan::TRANSFER_TYPE_SERVICE_RESPONSE, 13, DATA[3], TYPES[3]),
emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_UNICAST, 14, DATA[4], TYPES[0]),
emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 15, DATA[5], TYPES[1]),
// Wrongly addressed:
emulator.makeTransfer(uavcan::TRANSFER_TYPE_SERVICE_RESPONSE, 10, DATA[0], TYPES[3], 100),
emulator.makeTransfer(uavcan::TRANSFER_TYPE_SERVICE_REQUEST, 11, DATA[1], TYPES[2], 101),
emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_UNICAST, 12, DATA[2], TYPES[1], 102)
};
/*
* Sending the transfers
*/
ASSERT_TRUE(dispatcher.registerMessageListener(subscribers[0].get()));
ASSERT_TRUE(dispatcher.registerMessageListener(subscribers[1].get()));
ASSERT_TRUE(dispatcher.registerMessageListener(subscribers[2].get()));
ASSERT_TRUE(dispatcher.registerServiceRequestListener(subscribers[3].get()));
ASSERT_TRUE(dispatcher.registerServiceResponseListener(subscribers[4].get()));
ASSERT_TRUE(dispatcher.registerServiceResponseListener(subscribers[5].get()));
// Multiple service request listeners are not allowed
ASSERT_FALSE(dispatcher.registerServiceRequestListener(subscribers[3].get()));
for (int i = 0; i < NUM_SUBSCRIBERS; i++)
ASSERT_TRUE(subscribers[i]->isEmpty());
emulator.send(transfers);
emulator.send(transfers); // Just for fun, they will be ignored anyway.
while (true)
{
const int res = dispatcher.spin(0);
ASSERT_LE(0, res);
clockmock.advance(100);
if (res == 0)
break;
}
/*
* Matching.
* Expected reception order per subsciber:
* 0: 0, 4
* 1: 0, 4
* 2: 5, 1
* 3: 2
* 4: 3
* 5: 3
*/
ASSERT_TRUE(subscribers[0]->matchAndPop(transfers[0]));
ASSERT_TRUE(subscribers[0]->matchAndPop(transfers[4]));
ASSERT_TRUE(subscribers[1]->matchAndPop(transfers[0]));
ASSERT_TRUE(subscribers[1]->matchAndPop(transfers[4]));
ASSERT_TRUE(subscribers[2]->matchAndPop(transfers[5]));
ASSERT_TRUE(subscribers[2]->matchAndPop(transfers[1]));
ASSERT_TRUE(subscribers[3]->matchAndPop(transfers[2]));
ASSERT_TRUE(subscribers[4]->matchAndPop(transfers[3]));
ASSERT_TRUE(subscribers[5]->matchAndPop(transfers[3]));
for (int i = 0; i < NUM_SUBSCRIBERS; i++)
ASSERT_TRUE(subscribers[i]->isEmpty());
/*
* Unregistering all transfers
*/
dispatcher.unregisterMessageListener(subscribers[0].get());
dispatcher.unregisterMessageListener(subscribers[1].get());
dispatcher.unregisterMessageListener(subscribers[2].get());
dispatcher.unregisterServiceRequestListener(subscribers[3].get());
dispatcher.unregisterServiceResponseListener(subscribers[4].get());
dispatcher.unregisterServiceResponseListener(subscribers[5].get());
}

14
libuavcan/test/transport/transfer_listener.cpp
View File

@ -6,13 +6,13 @@
#include "transfer_test_helpers.hpp"
class Emulator : public IncomingTransferEmulatorBase
class TransferListenerEmulator : public IncomingTransferEmulatorBase
{
uavcan::TransferListenerBase& target_;
const uavcan::DataTypeDescriptor data_type_;
public:
Emulator(uavcan::TransferListenerBase& target, const uavcan::DataTypeDescriptor& type,
TransferListenerEmulator(uavcan::TransferListenerBase& target, const uavcan::DataTypeDescriptor& type,
uavcan::NodeID dst_node_id = 127)
: IncomingTransferEmulatorBase(dst_node_id)
, target_(target)
@ -59,7 +59,7 @@ TEST(TransferListener, BasicMFT)
"BEWARE JET BLAST"
};
Emulator emulator(subscriber, type);
TransferListenerEmulator emulator(subscriber, type);
const Transfer transfers[] =
{
emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 1, DATA[0]),
@ -97,7 +97,7 @@ TEST(TransferListener, CrcFailure)
/*
* Generating transfers with damaged payload (CRC is not valid)
*/
Emulator emulator(subscriber, type);
TransferListenerEmulator emulator(subscriber, type);
const Transfer tr_mft = emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 42, "123456789abcdefghik");
const Transfer tr_sft = emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_UNICAST, 11, "abcd");
@ -139,7 +139,7 @@ TEST(TransferListener, BasicSFT)
uavcan::PoolManager<1> poolmgr; // No dynamic memory. At all.
TestSubscriber<0, 0, 5> subscriber(&type, &poolmgr); // Max buf size is 0, i.e. SFT-only
Emulator emulator(subscriber, type);
TransferListenerEmulator emulator(subscriber, type);
const Transfer transfers[] =
{
emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 1, "123"),
@ -179,7 +179,7 @@ TEST(TransferListener, Cleanup)
/*
* Generating transfers
*/
Emulator emulator(subscriber, type);
TransferListenerEmulator emulator(subscriber, type);
const Transfer tr_mft = emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 42, "123456789abcdefghik");
const Transfer tr_sft = emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_UNICAST, 11, "abcd");
@ -234,7 +234,7 @@ TEST(TransferListener, MaximumTransferLength)
static const std::string DATA_OK(uavcan::MAX_TRANSFER_PAYLOAD_LEN, 'z');
Emulator emulator(subscriber, type);
TransferListenerEmulator emulator(subscriber, type);
const Transfer transfers[] =
{
emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_UNICAST, 1, DATA_OK),

10
libuavcan/test/transport/transfer_test_helpers.hpp
View File

@ -67,11 +67,11 @@ struct Transfer
{
return
(ts_monotonic == rhs.ts_monotonic) &&
(ts_utc == rhs.ts_utc) &&
((ts_utc && rhs.ts_utc) ? (ts_utc == rhs.ts_utc) : true) &&
(transfer_type == rhs.transfer_type) &&
(transfer_id == rhs.transfer_id) &&
(src_node_id == rhs.src_node_id) &&
(dst_node_id.isValid() ? (dst_node_id == rhs.dst_node_id) : true) &&
((dst_node_id.isValid() && rhs.dst_node_id.isValid()) ? (dst_node_id == rhs.dst_node_id) : true) &&
(data_type == rhs.data_type) &&
(payload == rhs.payload);
}
@ -227,11 +227,13 @@ public:
virtual ~IncomingTransferEmulatorBase() { }
Transfer makeTransfer(uavcan::TransferType transfer_type, uint8_t source_node_id, const std::string& payload,
const uavcan::DataTypeDescriptor& type)
const uavcan::DataTypeDescriptor& type,
uavcan::NodeID dst_node_id_override = uavcan::NodeID())
{
ts_ += 100;
const uavcan::NodeID dst_node_id = (transfer_type == uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST)
? uavcan::NodeID::BROADCAST : dst_node_id_;
? uavcan::NodeID::BROADCAST
: (dst_node_id_override.isValid() ? dst_node_id_override : dst_node_id_);
const Transfer tr(ts_, ts_ + 1000000000ul, transfer_type, tid_, source_node_id, dst_node_id, payload, type);
tid_.increment();
return tr;