Firmware update trigger implementation. It is most likely broken, because I'm half asleep by now; proper tests will be added later

2026-07-04 03:20:35 +08:00 · 2015-05-19 01:37:10 +03:00
parent 5e458e918d
commit 6b179d032b
2 changed files with 513 additions and 0 deletions
@@ -0,0 +1,83 @@
+/*
+ * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/protocol/firmware_update_trigger.hpp>
+#include <uavcan/protocol/node_status_provider.hpp>
+#include "helpers.hpp"
+
+using namespace uavcan::protocol::file;
+
+struct FirmwareVersionChecker : public uavcan::IFirmwareVersionChecker
+{
+    virtual bool shouldSendFirmwareUpdateRequest(uavcan::NodeID node_id,
+                                                 const uavcan::protocol::GetNodeInfo::Response& node_info,
+                                                 FirmwareFilePath& out_firmware_file_path)
+    {
+        (void)node_id;
+        (void)node_info;
+        (void)out_firmware_file_path;
+        return false;
+    }
+
+    virtual bool shouldRetryFirmwareUpdateRequest(uavcan::NodeID node_id,
+                                                  const BeginFirmwareUpdate::Response& error_response,
+                                                  FirmwareFilePath& out_firmware_file_path)
+    {
+        (void)node_id;
+        (void)error_response;
+        (void)out_firmware_file_path;
+        return false;
+    }
+
+    virtual void handleFirmwareUpdateConfirmation(uavcan::NodeID node_id,
+                                                  const BeginFirmwareUpdate::Response& response)
+    {
+        (void)node_id;
+        (void)response;
+    }
+};
+
+TEST(FirmwareUpdateTrigger, Basic)
+{
+    uavcan::GlobalDataTypeRegistry::instance().reset();
+    uavcan::DefaultDataTypeRegistrator<BeginFirmwareUpdate> _reg1;
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg2;
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg3;
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GlobalDiscoveryRequest> _reg4;
+
+    InterlinkedTestNodesWithSysClock nodes;
+
+    FirmwareVersionChecker checker;
+
+    uavcan::NodeInfoRetriever node_info_retriever(nodes.a);            // On the same node
+
+    uavcan::FirmwareUpdateTrigger trigger(nodes.a, checker);
+    std::cout << "sizeof(uavcan::FirmwareUpdateTrigger): " << sizeof(uavcan::FirmwareUpdateTrigger) << std::endl;
+
+    std::auto_ptr<uavcan::NodeStatusProvider> provider(new uavcan::NodeStatusProvider(nodes.b));    // Other node
+
+    /*
+     * Initializing
+     */
+    ASSERT_LE(0, trigger.start(node_info_retriever, "/path_prefix/"));
+
+    ASSERT_LE(0, node_info_retriever.start());
+    ASSERT_EQ(1, node_info_retriever.getNumListeners());
+
+    uavcan::protocol::HardwareVersion hwver;
+    hwver.unique_id[0] = 123;
+    hwver.unique_id[4] = 213;
+    hwver.unique_id[8] = 45;
+
+    provider->setName("Ivan");
+    provider->setHardwareVersion(hwver);
+
+    ASSERT_LE(0, provider->startAndPublish());
+
+    /*
+     * Discovering one node
+     */
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2000));
+}