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libuavcan: Convenience method NodeStatusProvider::setStatusPublishingPeriod()

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This commit is contained in:
Pavel Kirienko
2014-08-24 19:11:14 +04:00
parent 75153eb643
commit 6e3627dda8
3 changed files with 41 additions and 4 deletions
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libuavcan/test/protocol/node_status_provider.cpp
+11
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@@ -46,6 +46,17 @@ TEST(NodeStatusProvider, Basic)
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GlobalDiscoveryRequest> _reg3;
ASSERT_LE(0, nsp.startAndPublish());
// Checking the publishing rate settings
ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::PUBLICATION_PERIOD_MS),
nsp.getStatusPublishingPeriod());
nsp.setStatusPublishingPeriod(uavcan::MonotonicDuration());
ASSERT_FALSE(nsp.getStatusPublishingPeriod().isZero());
nsp.setStatusPublishingPeriod(uavcan::MonotonicDuration::fromMSec(3600 * 1000 * 24));
ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::PUBLICATION_PERIOD_MS),
nsp.getStatusPublishingPeriod());
/*
* Initial status publication
*/