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Tests fixes, the library should compile now

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This commit is contained in:
Pavel Kirienko
2015-07-08 23:33:41 +03:00
parent ece4cfc196
commit 88cf10d5a1
7 changed files with 27 additions and 27 deletions
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libuavcan/test/protocol/node_info_retriever.cpp
+19 -18
View File
@@ -13,11 +13,12 @@
#include <uavcan/protocol/node_status_provider.hpp>
#include "helpers.hpp"
static void publishNodeStatus(PairableCanDriver& can, uavcan::NodeID node_id, uavcan::uint8_t status_code,
static void publishNodeStatus(PairableCanDriver& can, uavcan::NodeID node_id,
uavcan::uint32_t uptime_sec, uavcan::TransferID tid)
{
uavcan::protocol::NodeStatus msg;
msg.status_code = status_code;
msg.health = uavcan::protocol::NodeStatus::HEALTH_OK;
msg.mode = uavcan::protocol::NodeStatus::MODE_OPERATIONAL;
msg.uptime_sec = uptime_sec;
emulateSingleFrameBroadcastTransfer(can, node_id, msg, tid);
}
@@ -55,7 +56,7 @@ struct NodeInfoListener : public uavcan::INodeInfoListener
virtual void handleNodeStatusChange(const uavcan::NodeStatusMonitor::NodeStatusChangeEvent& event)
{
std::cout << "NODE " << int(event.node_id.get()) << " STATUS CHANGE: "
<< int(event.old_status.status_code) << " --> " << int(event.status.status_code) << std::endl;
<< event.old_status.toString() << " --> " << event.status.toString() << std::endl;
status_change_cnt++;
}
@@ -137,9 +138,9 @@ TEST(NodeInfoRetriever, Basic)
uavcan::TransferID tid;
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 0, 10, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 10, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 10, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 10, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 10, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 10, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_LE(1, retr.getNumPendingRequests());
@@ -151,9 +152,9 @@ TEST(NodeInfoRetriever, Basic)
ASSERT_TRUE(retr.isRetrievingInProgress());
tid.increment();
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 0, 11, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 11, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 11, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 11, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 11, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 11, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_LE(1, retr.getNumPendingRequests());
@@ -165,9 +166,9 @@ TEST(NodeInfoRetriever, Basic)
ASSERT_TRUE(retr.isRetrievingInProgress());
tid.increment();
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 0, 12, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 12, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 10, tid); // Reset
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 12, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 12, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 10, tid); // Reset
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_LE(1, retr.getNumPendingRequests());
@@ -183,7 +184,7 @@ TEST(NodeInfoRetriever, Basic)
EXPECT_EQ(2, listener.info_unavailable_cnt);
tid.increment();
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 11, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 11, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_EQ(1, retr.getNumPendingRequests());
@@ -193,7 +194,7 @@ TEST(NodeInfoRetriever, Basic)
ASSERT_TRUE(retr.isRetrievingInProgress());
tid.increment();
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 12, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 12, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1200));
ASSERT_FALSE(retr.isRetrievingInProgress()); // Out of attempts, stopping
@@ -214,9 +215,9 @@ TEST(NodeInfoRetriever, Basic)
ASSERT_EQ(0, retr.getNumPendingRequests());
tid.increment();
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 0, 60, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 60, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 60, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 60, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 60, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 60, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(200));
@@ -261,7 +262,7 @@ TEST(NodeInfoRetriever, MaxConcurrentRequests)
*/
for (uint8_t node_id = 1U; node_id <= 127U; node_id++)
{
publishNodeStatus(nodes.can_a, node_id, 0, 0, uavcan::TransferID());
publishNodeStatus(nodes.can_a, node_id, 0, uavcan::TransferID());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_GE(MaxPendingRequests, retr.getNumPendingRequests());
ASSERT_TRUE(retr.isRetrievingInProgress());