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Service server feature - response suppression

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This commit is contained in:
Pavel Kirienko
2015-05-04 13:42:02 +03:00
parent 954d6899b2
commit 6a8135fedf
2 changed files with 114 additions and 13 deletions
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libuavcan/test/node/service_client.cpp
+52 -2
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@@ -47,14 +47,25 @@ struct ServiceCallResultHandler
static void stringServiceServerCallback(const uavcan::ReceivedDataStructure<root_ns_a::StringService::Request>& req,
root_ns_a::StringService::Response& rsp)
uavcan::ServiceResponseDataStructure<root_ns_a::StringService::Response>& rsp)
{
rsp.string_response = "Request string: ";
rsp.string_response += req.string_request;
}
static void rejectingStringServiceServerCallback(
const uavcan::ReceivedDataStructure<root_ns_a::StringService::Request>& req,
uavcan::ServiceResponseDataStructure<root_ns_a::StringService::Response>& rsp)
{
rsp.string_response = "Request string: ";
rsp.string_response += req.string_request;
ASSERT_TRUE(rsp.isResponseEnabled());
rsp.setResponseEnabled(false);
ASSERT_FALSE(rsp.isResponseEnabled());
}
static void emptyServiceServerCallback(const uavcan::ReceivedDataStructure<root_ns_a::EmptyService::Request>&,
root_ns_a::EmptyService::Response&)
uavcan::ServiceResponseDataStructure<root_ns_a::EmptyService::Response>&)
{
// Nothing to do - the service is empty
}
@@ -139,6 +150,45 @@ TEST(ServiceClient, Basic)
}
TEST(ServiceClient, Rejection)
{
InterlinkedTestNodesWithSysClock nodes;
// Type registration
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<root_ns_a::StringService> _registrator;
// Server
uavcan::ServiceServer<root_ns_a::StringService> server(nodes.a);
ASSERT_EQ(0, server.start(rejectingStringServiceServerCallback));
// Caller
typedef uavcan::ServiceCallResult<root_ns_a::StringService> ResultType;
typedef uavcan::ServiceClient<root_ns_a::StringService,
typename ServiceCallResultHandler<root_ns_a::StringService>::Binder > ClientType;
ServiceCallResultHandler<root_ns_a::StringService> handler;
ClientType client1(nodes.b);
client1.setRequestTimeout(uavcan::MonotonicDuration::fromMSec(100));
client1.setCallback(handler.bind());
root_ns_a::StringService::Request request;
request.string_request = "Hello world";
ASSERT_LT(0, client1.call(1, request));
ASSERT_EQ(1, nodes.b.getDispatcher().getNumServiceResponseListeners());
ASSERT_TRUE(client1.isPending());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(200));
ASSERT_FALSE(client1.isPending());
ASSERT_EQ(0, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Timed out
ASSERT_TRUE(handler.match(ResultType::ErrorTimeout, 1, root_ns_a::StringService::Response()));
}
TEST(ServiceClient, Empty)
{
InterlinkedTestNodesWithSysClock nodes;