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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/transport/dispatcher.cpp
+6 -13
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@@ -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));
{