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OTR deinterfaced

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This commit is contained in:
Pavel Kirienko
2015-10-14 20:15:19 +03:00
parent 0d5fc65907
commit 899aae44f7
10 changed files with 56 additions and 97 deletions
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libuavcan/test/node/test_node.hpp
+1 -3
View File
@@ -20,13 +20,11 @@
struct TestNode : public uavcan::INode
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 1024, uavcan::MemPoolBlockSize> pool;
uavcan::OutgoingTransferRegistry otr;
uavcan::Scheduler scheduler;
uint64_t internal_failure_count;
TestNode(uavcan::ICanDriver& can_driver, uavcan::ISystemClock& clock_driver, uavcan::NodeID self_node_id)
: otr(pool)
, scheduler(can_driver, pool, clock_driver, otr)
: scheduler(can_driver, pool, clock_driver)
, internal_failure_count(0)
{
setNodeID(self_node_id);
libuavcan/test/transport/dispatcher.cpp
+6 -13
View File
@@ -57,9 +57,7 @@ TEST(Dispatcher, Reception)
SystemClockMock clockmock(100);
CanDriverMock driver(2, clockmock);
uavcan::OutgoingTransferRegistry out_trans_reg(pool);
uavcan::Dispatcher dispatcher(driver, pool, clockmock, out_trans_reg);
uavcan::Dispatcher dispatcher(driver, pool, clockmock);
ASSERT_TRUE(dispatcher.setNodeID(SELF_NODE_ID)); // Can be set only once
ASSERT_FALSE(dispatcher.setNodeID(SELF_NODE_ID));
ASSERT_EQ(SELF_NODE_ID, dispatcher.getNodeID());
@@ -255,9 +253,7 @@ TEST(Dispatcher, Transmission)
SystemClockMock clockmock(100);
CanDriverMock driver(2, clockmock);
uavcan::OutgoingTransferRegistry out_trans_reg(pool);
uavcan::Dispatcher dispatcher(driver, pool, clockmock, out_trans_reg);
uavcan::Dispatcher dispatcher(driver, pool, clockmock);
ASSERT_TRUE(dispatcher.setNodeID(SELF_NODE_ID)); // Can be set only once
ASSERT_FALSE(dispatcher.setNodeID(SELF_NODE_ID));
@@ -280,7 +276,8 @@ TEST(Dispatcher, Transmission)
ASSERT_FALSE(dispatcher.hasPublisher(123));
ASSERT_FALSE(dispatcher.hasPublisher(456));
const uavcan::OutgoingTransferRegistryKey otr_key(123, uavcan::TransferTypeMessageBroadcast, 0);
ASSERT_TRUE(out_trans_reg.accessOrCreate(otr_key, uavcan::MonotonicTime::fromMSec(1000000)));
ASSERT_TRUE(dispatcher.getOutgoingTransferRegistry().accessOrCreate(otr_key,
uavcan::MonotonicTime::fromMSec(1000000)));
ASSERT_TRUE(dispatcher.hasPublisher(123));
ASSERT_FALSE(dispatcher.hasPublisher(456));
@@ -319,9 +316,7 @@ TEST(Dispatcher, Spin)
SystemClockMock clockmock(100);
CanDriverMock driver(2, clockmock);
uavcan::OutgoingTransferRegistry out_trans_reg(poolmgr);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock);
ASSERT_TRUE(dispatcher.setNodeID(SELF_NODE_ID)); // Can be set only once
ASSERT_FALSE(dispatcher.setNodeID(SELF_NODE_ID));
@@ -365,9 +360,7 @@ TEST(Dispatcher, Loopback)
SystemClockMock clockmock(100);
CanDriverMock driver(2, clockmock);
uavcan::OutgoingTransferRegistry out_trans_reg(poolmgr);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock);
ASSERT_TRUE(dispatcher.setNodeID(SELF_NODE_ID));
{
libuavcan/test/transport/transfer_sender.cpp
+4 -10
View File
@@ -34,12 +34,10 @@ TEST(TransferSender, Basic)
SystemClockMock clockmock(100);
CanDriverMock driver(2, clockmock);
uavcan::OutgoingTransferRegistry out_trans_reg(poolmgr);
static const uavcan::NodeID TX_NODE_ID(64);
static const uavcan::NodeID RX_NODE_ID(65);
uavcan::Dispatcher dispatcher_tx(driver, poolmgr, clockmock, out_trans_reg);
uavcan::Dispatcher dispatcher_rx(driver, poolmgr, clockmock, out_trans_reg);
uavcan::Dispatcher dispatcher_tx(driver, poolmgr, clockmock);
uavcan::Dispatcher dispatcher_rx(driver, poolmgr, clockmock);
ASSERT_TRUE(dispatcher_tx.setNodeID(TX_NODE_ID));
ASSERT_TRUE(dispatcher_rx.setNodeID(RX_NODE_ID));
@@ -195,10 +193,8 @@ TEST(TransferSender, Loopback)
SystemClockMock clockmock(100);
CanDriverMock driver(2, clockmock);
uavcan::OutgoingTransferRegistry out_trans_reg(poolmgr);
static const uavcan::NodeID TX_NODE_ID(64);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock);
ASSERT_TRUE(dispatcher.setNodeID(TX_NODE_ID));
uavcan::DataTypeDescriptor desc = makeDataType(uavcan::DataTypeKindMessage, 1, "Foobar");
@@ -236,9 +232,7 @@ TEST(TransferSender, PassiveMode)
SystemClockMock clockmock(100);
CanDriverMock driver(2, clockmock);
uavcan::OutgoingTransferRegistry out_trans_reg(poolmgr);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock);
uavcan::TransferSender sender(dispatcher, makeDataType(uavcan::DataTypeKindMessage, 123),
uavcan::CanTxQueue::Volatile);