From 70b366d680c8f990fb7010346d7766705cacc767 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Mon, 8 Jun 2015 12:49:44 +0300
Subject: [PATCH] SubNode<> test

---
 libuavcan/test/node/sub_node.cpp | 83 ++++++++++++++++++++++++++++++++
 1 file changed, 83 insertions(+)
 create mode 100644 libuavcan/test/node/sub_node.cpp

diff --git a/libuavcan/test/node/sub_node.cpp b/libuavcan/test/node/sub_node.cpp
new file mode 100644
index 0000000000..698573ed8f
--- /dev/null
+++ b/libuavcan/test/node/sub_node.cpp
@@ -0,0 +1,83 @@
+/*
+ * 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;
+}