Frame parse()/compile(), some renamings

2026-10-21 22:13:33 +08:00 · 2014-02-02 22:54:27 +04:00
parent 4bf2b2e81a
commit 8794c7eab9
9 changed files with 226 additions and 38 deletions
@@ -5,6 +5,7 @@
 #include <string>
 #include <gtest/gtest.h>
 #include <uavcan/internal/transport/transfer.hpp>
+#include "../common.hpp"


 TEST(Transfer, TransferID)
@@ -58,3 +59,101 @@ TEST(Transfer, TransferID)
        ASSERT_EQ(0, tid.forwardDistance(tid));
    }
 }
+
+TEST(Transfer, FrameParseCompile)
+{
+    using uavcan::Frame;
+    using uavcan::CanFrame;
+    using uavcan::TransferID;
+    using uavcan::TransferType;
+
+    Frame frame;
+
+    const uint32_t can_id =
+        (2 << 0)   |      //    Transfer ID
+        (1 << 4)   |      //    Last Frame
+        (29 << 5)  |      //    Frame Index
+        (42 << 10) |      //    Source Node ID
+        (3 << 17)  |      //    Transfer Type
+        (456 << 19);      //    Data Type ID
+
+    const std::string payload_string = "hello";
+
+    /*
+     * Parse
+     */
+    // Invalid CAN frames
+    ASSERT_FALSE(frame.parse(CanFrame(can_id | CanFrame::FLAG_RTR, (const uint8_t*)"", 0)));
+    ASSERT_FALSE(frame.parse(makeCanFrame(can_id, payload_string, STD)));
+
+    // Valid
+    ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
+
+    EXPECT_EQ(TransferID(2), frame.transfer_id);
+    EXPECT_TRUE(frame.last_frame);
+    EXPECT_EQ(29, frame.frame_index);
+    EXPECT_EQ(42, frame.source_node_id);
+    EXPECT_EQ(TransferType(3), frame.transfer_type);
+    EXPECT_EQ(456, frame.data_type_id);
+
+    EXPECT_EQ(payload_string.length(), frame.payload_len);
+    EXPECT_TRUE(std::equal(frame.payload, frame.payload + frame.payload_len, payload_string.begin()));
+
+    // Default
+    ASSERT_TRUE(frame.parse(CanFrame(CanFrame::FLAG_EFF, (const uint8_t*)"", 0)));
+    ASSERT_EQ(Frame(), frame);
+
+    /*
+     * Compile
+     */
+    // Default
+    frame = Frame();
+    CanFrame can_frame = frame.compile();
+    ASSERT_EQ(can_frame.id, CanFrame::FLAG_EFF);
+
+    // Custom
+    ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
+
+    can_frame = frame.compile();
+    ASSERT_EQ(can_frame, makeCanFrame(can_id, payload_string, EXT));
+
+    EXPECT_EQ(payload_string.length(), can_frame.dlc);
+    EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc, payload_string.begin()));
+
+    /*
+     * Comparison
+     */
+    ASSERT_FALSE(Frame() == frame);
+    ASSERT_TRUE(Frame() != frame);
+    frame = Frame();
+    ASSERT_TRUE(Frame() == frame);
+    ASSERT_FALSE(Frame() != frame);
+}
+
+
+TEST(Transfer, RxFrameParseCompile)
+{
+    using uavcan::Frame;
+    using uavcan::RxFrame;
+    using uavcan::CanFrame;
+    using uavcan::CanRxFrame;
+
+    CanRxFrame can_rx_frame;
+    RxFrame rx_frame;
+
+    // Failure
+    ASSERT_FALSE(rx_frame.parse(can_rx_frame));
+
+    // Default
+    can_rx_frame.frame.id = CanFrame::FLAG_EFF;
+    ASSERT_TRUE(rx_frame.parse(can_rx_frame));
+    ASSERT_EQ(0, rx_frame.timestamp);
+    ASSERT_EQ(0, rx_frame.iface_index);
+
+    // Custom
+    can_rx_frame.timestamp = 123;
+    can_rx_frame.iface_index = 2;
+    ASSERT_TRUE(rx_frame.parse(can_rx_frame));
+    ASSERT_EQ(123, rx_frame.timestamp);
+    ASSERT_EQ(2, rx_frame.iface_index);
+}