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All unit tests compile, but crash. This is the most horrifying commit I've ever made.

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This commit is contained in:
Pavel Kirienko
2015-07-01 14:55:24 +03:00
parent feb7600f17
commit 8a2e22046e
42 changed files with 421 additions and 587 deletions
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libuavcan/test/node/publisher.cpp
+16 -35
View File
@@ -4,7 +4,7 @@
#include <gtest/gtest.h>
#include <uavcan/node/publisher.hpp>
#include <uavcan/mavlink/Message.hpp>
#include <root_ns_a/MavlinkMessage.hpp>
#include "../clock.hpp"
#include "../transport/can/can.hpp"
#include "test_node.hpp"
@@ -16,17 +16,17 @@ TEST(Publisher, Basic)
CanDriverMock can_driver(2, clock_mock);
TestNode node(can_driver, clock_mock, 1);
uavcan::Publisher<uavcan::mavlink::Message> publisher(node);
uavcan::Publisher<root_ns_a::MavlinkMessage> publisher(node);
ASSERT_FALSE(publisher.getTransferSender().isInitialized());
std::cout <<
"sizeof(uavcan::Publisher<uavcan::mavlink::Message>): " <<
sizeof(uavcan::Publisher<uavcan::mavlink::Message>) << std::endl;
"sizeof(uavcan::Publisher<root_ns_a::MavlinkMessage>): " <<
sizeof(uavcan::Publisher<root_ns_a::MavlinkMessage>) << std::endl;
// Manual type registration - we can't rely on the GDTR state
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::mavlink::Message> _registrator;
uavcan::DefaultDataTypeRegistrator<root_ns_a::MavlinkMessage> _registrator;
/*
* Message layout:
@@ -36,7 +36,7 @@ TEST(Publisher, Basic)
* uint8 msgid
* uint8[<256] payload
*/
uavcan::mavlink::Message msg;
root_ns_a::MavlinkMessage msg;
msg.seq = 0x42;
msg.sysid = 0x72;
msg.compid = 0x08;
@@ -54,9 +54,11 @@ TEST(Publisher, Basic)
// uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
// uint_fast8_t frame_index, TransferID transfer_id, bool last_frame = false
uavcan::Frame expected_frame(uavcan::mavlink::Message::DefaultDataTypeID, uavcan::TransferTypeMessageBroadcast,
node.getNodeID(), uavcan::NodeID::Broadcast, 0, 0, true);
uavcan::Frame expected_frame(root_ns_a::MavlinkMessage::DefaultDataTypeID, uavcan::TransferTypeMessageBroadcast,
node.getNodeID(), uavcan::NodeID::Broadcast, 0);
expected_frame.setPayload(expected_transfer_payload, 7);
expected_frame.setStartOfTransfer(true);
expected_frame.setEndOfTransfer(true);
uavcan::CanFrame expected_can_frame;
ASSERT_TRUE(expected_frame.compile(expected_can_frame));
@@ -67,14 +69,16 @@ TEST(Publisher, Basic)
ASSERT_TRUE(can_driver.ifaces[1].tx.empty());
// Second shot - checking the transfer ID
publisher.setPriority(uavcan::TransferPriorityLow);
publisher.setPriority(10);
ASSERT_LT(0, publisher.broadcast(msg));
expected_frame = uavcan::Frame(uavcan::mavlink::Message::DefaultDataTypeID,
expected_frame = uavcan::Frame(root_ns_a::MavlinkMessage::DefaultDataTypeID,
uavcan::TransferTypeMessageBroadcast,
node.getNodeID(), uavcan::NodeID::Broadcast, 0, 1, true);
node.getNodeID(), uavcan::NodeID::Broadcast, 1);
expected_frame.setStartOfTransfer(true);
expected_frame.setEndOfTransfer(true);
expected_frame.setPayload(expected_transfer_payload, 7);
expected_frame.setPriority(uavcan::TransferPriorityLow);
expected_frame.setPriority(10);
ASSERT_TRUE(expected_frame.compile(expected_can_frame));
ASSERT_TRUE(can_driver.ifaces[0].matchAndPopTx(expected_can_frame, tx_timeout_usec + 100));
@@ -85,29 +89,6 @@ TEST(Publisher, Basic)
clock_mock.advance(1000);
/*
* Unicast
*/
{
publisher.setPriority(uavcan::TransferPriorityHigh);
ASSERT_LT(0, publisher.unicast(msg, 0x44));
// uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
// uint_fast8_t frame_index, TransferID transfer_id, bool last_frame = false
uavcan::Frame expected_frame(uavcan::mavlink::Message::DefaultDataTypeID, uavcan::TransferTypeMessageUnicast,
node.getNodeID(), uavcan::NodeID(0x44), 0, 0, true);
expected_frame.setPayload(expected_transfer_payload, 7);
expected_frame.setPriority(uavcan::TransferPriorityHigh);
uavcan::CanFrame expected_can_frame;
ASSERT_TRUE(expected_frame.compile(expected_can_frame));
ASSERT_TRUE(can_driver.ifaces[0].matchAndPopTx(expected_can_frame, tx_timeout_usec + 100 + 1000));
ASSERT_TRUE(can_driver.ifaces[1].matchAndPopTx(expected_can_frame, tx_timeout_usec + 100 + 1000));
ASSERT_TRUE(can_driver.ifaces[0].tx.empty());
ASSERT_TRUE(can_driver.ifaces[1].tx.empty());
}
/*
* Misc
*/
libuavcan/test/node/service_server.cpp
+1 -1
View File
@@ -79,7 +79,7 @@ TEST(ServiceServer, Basic)
// uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
// uint_fast8_t frame_index, TransferID transfer_id, bool last_frame
uavcan::Frame frame(root_ns_a::StringService::DefaultDataTypeID, uavcan::TransferTypeServiceRequest,
uavcan::NodeID(uint8_t(i + 0x10)), 1, 0, i, true);
uavcan::NodeID(uint8_t(i + 0x10)), 1, i);
const uint8_t req[] = {'r', 'e', 'q', uint8_t(i + '0')};
frame.setPayload(req, sizeof(req));
libuavcan/test/node/subscriber.cpp
+25 -19
View File
@@ -5,8 +5,8 @@
#include <gtest/gtest.h>
#include <uavcan/node/subscriber.hpp>
#include <uavcan/util/method_binder.hpp>
#include <uavcan/mavlink/Message.hpp>
#include <root_ns_a/EmptyMessage.hpp>
#include <root_ns_a/MavlinkMessage.hpp>
#include "../clock.hpp"
#include "../transport/can/can.hpp"
#include "test_node.hpp"
@@ -64,22 +64,22 @@ TEST(Subscriber, Basic)
{
// Manual type registration - we can't rely on the GDTR state
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::mavlink::Message> _registrator;
uavcan::DefaultDataTypeRegistrator<root_ns_a::MavlinkMessage> _registrator;
SystemClockDriver clock_driver;
CanDriverMock can_driver(2, clock_driver);
TestNode node(can_driver, clock_driver, 1);
typedef SubscriptionListener<uavcan::mavlink::Message> Listener;
typedef SubscriptionListener<root_ns_a::MavlinkMessage> Listener;
uavcan::Subscriber<uavcan::mavlink::Message, Listener::ExtendedBinder> sub_extended(node);
uavcan::Subscriber<uavcan::mavlink::Message, Listener::ExtendedBinder> sub_extended2(node); // Not used
uavcan::Subscriber<uavcan::mavlink::Message, Listener::SimpleBinder> sub_simple(node);
uavcan::Subscriber<uavcan::mavlink::Message, Listener::SimpleBinder> sub_simple2(node); // Not used
uavcan::Subscriber<root_ns_a::MavlinkMessage, Listener::ExtendedBinder> sub_extended(node);
uavcan::Subscriber<root_ns_a::MavlinkMessage, Listener::ExtendedBinder> sub_extended2(node); // Not used
uavcan::Subscriber<root_ns_a::MavlinkMessage, Listener::SimpleBinder> sub_simple(node);
uavcan::Subscriber<root_ns_a::MavlinkMessage, Listener::SimpleBinder> sub_simple2(node); // Not used
std::cout <<
"sizeof(uavcan::Subscriber<uavcan::mavlink::Message, Listener::ExtendedBinder>): " <<
sizeof(uavcan::Subscriber<uavcan::mavlink::Message, Listener::ExtendedBinder>) << std::endl;
"sizeof(uavcan::Subscriber<root_ns_a::MavlinkMessage, Listener::ExtendedBinder>): " <<
sizeof(uavcan::Subscriber<root_ns_a::MavlinkMessage, Listener::ExtendedBinder>) << std::endl;
// Null binder - will fail
ASSERT_EQ(-uavcan::ErrInvalidParam, sub_extended.start(Listener::ExtendedBinder(NULL, NULL)));
@@ -94,7 +94,7 @@ TEST(Subscriber, Basic)
* uint8 msgid
* uint8[<256] payload
*/
uavcan::mavlink::Message expected_msg;
root_ns_a::MavlinkMessage expected_msg;
expected_msg.seq = 0x42;
expected_msg.sysid = 0x72;
expected_msg.compid = 0x08;
@@ -109,13 +109,15 @@ TEST(Subscriber, Basic)
std::vector<uavcan::RxFrame> rx_frames;
for (uint8_t i = 0; i < 4; i++)
{
uavcan::TransferType tt = (i & 1) ? uavcan::TransferTypeMessageUnicast : uavcan::TransferTypeMessageBroadcast;
uavcan::TransferType tt = uavcan::TransferTypeMessageBroadcast;
uavcan::NodeID dni = (tt == uavcan::TransferTypeMessageBroadcast) ?
uavcan::NodeID::Broadcast : node.getDispatcher().getNodeID();
// uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
// uint_fast8_t frame_index, TransferID transfer_id, bool last_frame
uavcan::Frame frame(uavcan::mavlink::Message::DefaultDataTypeID, tt, uavcan::NodeID(uint8_t(i + 100)),
dni, 0, i, true);
uavcan::Frame frame(root_ns_a::MavlinkMessage::DefaultDataTypeID, tt, uavcan::NodeID(uint8_t(i + 100)),
dni, i);
frame.setStartOfTransfer(true);
frame.setEndOfTransfer(true);
frame.setPayload(transfer_payload, 7);
uavcan::RxFrame rx_frame(frame, clock_driver.getMonotonic(), clock_driver.getUtc(), 0);
rx_frames.push_back(rx_frame);
@@ -184,7 +186,7 @@ TEST(Subscriber, Basic)
}
static void panickingSink(const uavcan::ReceivedDataStructure<uavcan::mavlink::Message>&)
static void panickingSink(const uavcan::ReceivedDataStructure<root_ns_a::MavlinkMessage>&)
{
FAIL() << "I just went mad";
}
@@ -194,14 +196,14 @@ TEST(Subscriber, FailureCount)
{
// Manual type registration - we can't rely on the GDTR state
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::mavlink::Message> _registrator;
uavcan::DefaultDataTypeRegistrator<root_ns_a::MavlinkMessage> _registrator;
SystemClockDriver clock_driver;
CanDriverMock can_driver(2, clock_driver);
TestNode node(can_driver, clock_driver, 1);
{
uavcan::Subscriber<uavcan::mavlink::Message> sub(node);
uavcan::Subscriber<root_ns_a::MavlinkMessage> sub(node);
ASSERT_EQ(0, node.getDispatcher().getNumMessageListeners());
sub.start(panickingSink);
ASSERT_EQ(1, node.getDispatcher().getNumMessageListeners());
@@ -212,8 +214,10 @@ TEST(Subscriber, FailureCount)
{
// uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
// uint_fast8_t frame_index, TransferID transfer_id, bool last_frame
uavcan::Frame frame(uavcan::mavlink::Message::DefaultDataTypeID, uavcan::TransferTypeMessageBroadcast,
uavcan::NodeID(uint8_t(i + 100)), uavcan::NodeID::Broadcast, 0, i, true);
uavcan::Frame frame(root_ns_a::MavlinkMessage::DefaultDataTypeID, uavcan::TransferTypeMessageBroadcast,
uavcan::NodeID(uint8_t(i + 100)), uavcan::NodeID::Broadcast, i);
frame.setStartOfTransfer(true);
frame.setEndOfTransfer(true);
// No payload - broken transfer
uavcan::RxFrame rx_frame(frame, clock_driver.getMonotonic(), clock_driver.getUtc(), 0);
can_driver.ifaces[0].pushRx(rx_frame);
@@ -257,7 +261,9 @@ TEST(Subscriber, SingleFrameTransfer)
// uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
// uint_fast8_t frame_index, TransferID transfer_id, bool last_frame
uavcan::Frame frame(root_ns_a::EmptyMessage::DefaultDataTypeID, uavcan::TransferTypeMessageBroadcast,
uavcan::NodeID(uint8_t(i + 100)), uavcan::NodeID::Broadcast, 0, i, true);
uavcan::NodeID(uint8_t(i + 100)), uavcan::NodeID::Broadcast, i);
frame.setStartOfTransfer(true);
frame.setEndOfTransfer(true);
// No payload - message is empty
uavcan::RxFrame rx_frame(frame, clock_driver.getMonotonic(), clock_driver.getUtc(), 0);
can_driver.ifaces[0].pushRx(rx_frame);