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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/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);