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Checking priorities in Publisher's unit test

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This commit is contained in:
Pavel Kirienko
2015-04-30 15:19:51 +03:00
parent 65ec6fce2e
commit 6b07222650
1 changed files with 4 additions and 0 deletions
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libuavcan/test/node/publisher.cpp
+4
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@@ -65,12 +65,14 @@ TEST(Publisher, Basic)
ASSERT_TRUE(can_driver.ifaces[1].tx.empty());
// Second shot - checking the transfer ID
publisher.setPriority(uavcan::TransferPriorityLow);
ASSERT_LT(0, publisher.broadcast(msg));
expected_frame = uavcan::Frame(uavcan::mavlink::Message::DefaultDataTypeID,
uavcan::TransferTypeMessageBroadcast,
node.getNodeID(), uavcan::NodeID::Broadcast, 0, 1, true);
expected_frame.setPayload(expected_transfer_payload, 7);
expected_frame.setPriority(uavcan::TransferPriorityLow);
ASSERT_TRUE(expected_frame.compile(expected_can_frame));
ASSERT_TRUE(can_driver.ifaces[0].matchAndPopTx(expected_can_frame, tx_timeout_usec + 100));
@@ -85,6 +87,7 @@ TEST(Publisher, Basic)
* Unicast
*/
{
publisher.setPriority(uavcan::TransferPriorityHigh);
ASSERT_LT(0, publisher.unicast(msg, 0x44));
// uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
@@ -92,6 +95,7 @@ TEST(Publisher, Basic)
uavcan::Frame expected_frame(uavcan::mavlink::Message::DefaultDataTypeID, uavcan::TransferTypeMessageUnicast,
node.getNodeID(), uavcan::NodeID(0x44), 0, 0, true);
expected_frame.setPayload(expected_transfer_payload, 7);
expected_frame.setPriority(uavcan::TransferPriorityHigh);
uavcan::CanFrame expected_can_frame;
ASSERT_TRUE(expected_frame.compile(expected_can_frame));