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SubNode<> test

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This commit is contained in:
Pavel Kirienko 2015-06-08 12:49:44 +03:00
parent e24fa5f236
commit 70b366d680
1 changed files with 83 additions and 0 deletions
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libuavcan/test/node/sub_node.cpp Normal file
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/*
* Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <gtest/gtest.h>
#include <uavcan/node/node.hpp>
#include <uavcan/node/sub_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(SubNode, Basic)
{
registerTypes();
InterlinkedTestNodesWithSysClock nodes;
uavcan::protocol::SoftwareVersion swver;
swver.major = 0;
swver.minor = 1;
swver.vcs_commit = 0xDEADBEEF;
/*
* uavcan::Node
*/
uavcan::Node<0> node1(nodes.can_a, nodes.clock_a);
node1.setName("com.example");
node1.setNodeID(1);
node1.setSoftwareVersion(swver);
/*
* uavcan::SubNode
*/
uavcan::SubNode<0> node2(nodes.can_b, nodes.clock_b);
std::cout << "sizeof(uavcan::SubNode<0>): " << sizeof(uavcan::SubNode<0>) << std::endl;
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 first node
*/
ASSERT_FALSE(node1.isStarted());
ASSERT_EQ(-uavcan::ErrNotInited, node1.spin(uavcan::MonotonicDuration::fromMSec(20)));
ASSERT_LE(0, node1.start());
uavcan::NetworkCompatibilityCheckResult result;
ASSERT_LE(0, node1.checkNetworkCompatibility(result));
ASSERT_TRUE(result.isOk());
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);
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;
}