Main Node class

2026-07-06 03:30:35 +08:00 · 2014-03-28 13:21:56 +04:00
parent b85fdc886b
commit 6b733dde49
2 changed files with 311 additions and 0 deletions
@@ -0,0 +1,90 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/node/node.hpp>
+#include <uavcan/protocol/node_status_monitor.hpp>
+#include "test_node.hpp"
+#include "../protocol/helpers.hpp"
+
+static void registerTypes()
+{
+    uavcan::GlobalDataTypeRegistry::instance().reset();
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GlobalDiscoveryRequest> _reg1;
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg2;
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::ComputeAggregateTypeSignature> _reg3;
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg4;
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetDataTypeInfo> _reg5;
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::debug::LogMessage> _reg6;
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetTransportStats> _reg7;
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::RestartNode> _reg8;
+}
+
+
+TEST(Node, Basic)
+{
+    registerTypes();
+    InterlinkedTestNodesWithSysClock nodes;
+
+    uavcan::protocol::SoftwareVersion swver;
+    swver.major = 0;
+    swver.minor = 1;
+    swver.build = 0xDEADBEEF;
+
+    /*
+     * uavcan::Node
+     */
+    uavcan::Node<0> node1(nodes.can_a, nodes.clock_a);
+    std::cout << "sizeof(uavcan::Node<0>): " << sizeof(uavcan::Node<0>) << std::endl;
+    node1.setName("com.example");
+    node1.setNodeID(1);
+    node1.setSoftwareVersion(swver);
+
+    /*
+     * Companion test node
+     */
+    uavcan::Node<0> node2(nodes.can_b, nodes.clock_b);
+    node2.setName("foobar");
+    node2.setNodeID(2);
+    node2.setSoftwareVersion(swver);
+
+    BackgroundSpinner bgspinner(node2, node1);
+    bgspinner.startPeriodic(uavcan::MonotonicDuration::fromMSec(10));
+
+    uavcan::NodeStatusMonitor node_status_monitor(node2);
+    ASSERT_LE(0, node_status_monitor.start());
+
+    /*
+     * Init the second node - network is empty
+     */
+    uavcan::NodeInitializationResult result;
+    ASSERT_LE(0, node2.start(result));
+
+    ASSERT_FALSE(node_status_monitor.findNodeWithWorstStatus().isValid());
+
+    /*
+     * Init the first node
+     */
+    ASSERT_FALSE(node1.isStarted());
+    ASSERT_EQ(-1, node1.spin(uavcan::MonotonicDuration::fromMSec(20)));  // Not initialized - will fail
+    ASSERT_LE(0, node1.start(result));
+    ASSERT_TRUE(node1.isStarted());
+
+    ASSERT_EQ(1, node_status_monitor.findNodeWithWorstStatus().get());
+
+    /*
+     * Some logging
+     */
+    SubscriberWithCollector<uavcan::protocol::debug::LogMessage> log_sub(node2);
+    ASSERT_LE(0, log_sub.start());
+
+    node1.getLogger().setLevel(uavcan::protocol::debug::LogLevel::DEBUG);
+    ASSERT_LE(1, node1.logInfo("test", "6 * 9 = 42"));
+
+    ASSERT_LE(0, node1.spin(uavcan::MonotonicDuration::fromMSec(20)));
+    ASSERT_LE(0, node2.spin(uavcan::MonotonicDuration::fromMSec(20)));
+
+    ASSERT_TRUE(log_sub.collector.msg.get());
+    std::cout << *log_sub.collector.msg << std::endl;
+}