mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 13:13:34 +08:00
All unit tests compile, but crash. This is the most horrifying commit I've ever made.
This commit is contained in:
Pavel Kirienko
@@ -5,6 +5,7 @@
|
||||
#include <string>
|
||||
#include <gtest/gtest.h>
|
||||
#include <uavcan/transport/transfer.hpp>
|
||||
#include <uavcan/transport/crc.hpp>
|
||||
#include "../clock.hpp"
|
||||
#include "can/can.hpp"
|
||||
|
||||
@@ -19,24 +20,18 @@ TEST(Frame, MessageParseCompile)
|
||||
Frame frame;
|
||||
|
||||
/*
|
||||
* Priority (LOW, NORMAL, HIGH)
|
||||
* Priority
|
||||
* Message Type ID
|
||||
* Service Not Message
|
||||
* Source Node ID
|
||||
* BroadcastNotUnicast
|
||||
* Frame Index
|
||||
* Last Frame
|
||||
* Transfer ID
|
||||
*/
|
||||
const uint32_t can_id =
|
||||
(1 << 27) | // Priority
|
||||
(2000 << 16) | // Message Type ID
|
||||
(42 << 9) | // Source Node ID
|
||||
(1 << 8) | // BroadcastNotUnicast
|
||||
(11 << 4) | // Frame Index
|
||||
(1 << 3) | // Last Frame
|
||||
(2 << 0); // Transfer ID
|
||||
(16 << 24) | // Priority
|
||||
(20000 << 8) | // Message Type ID
|
||||
(0 << 7) | // Service Not Message
|
||||
(42 << 0); // Source Node ID
|
||||
|
||||
const std::string payload_string = "hello";
|
||||
const std::string payload_string = "hello\xD4"; // SET = 110, TID = 20
|
||||
|
||||
/*
|
||||
* Parse
|
||||
@@ -48,14 +43,15 @@ TEST(Frame, MessageParseCompile)
|
||||
// Valid
|
||||
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
|
||||
|
||||
EXPECT_EQ(TransferID(2), frame.getTransferID());
|
||||
EXPECT_TRUE(frame.isLast());
|
||||
EXPECT_EQ(11, frame.getIndex());
|
||||
EXPECT_EQ(TransferID(20), frame.getTransferID());
|
||||
EXPECT_TRUE(frame.isStartOfTransfer());
|
||||
EXPECT_TRUE(frame.isEndOfTransfer());
|
||||
EXPECT_FALSE(frame.getToggle());
|
||||
EXPECT_EQ(uavcan::NodeID(42), frame.getSrcNodeID());
|
||||
EXPECT_TRUE(frame.getDstNodeID().isBroadcast());
|
||||
EXPECT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
|
||||
EXPECT_EQ(2000, frame.getDataTypeID().get());
|
||||
EXPECT_EQ(uavcan::TransferPriorityNormal, frame.getPriority());
|
||||
EXPECT_EQ(16, frame.getPriority().get());
|
||||
|
||||
EXPECT_EQ(payload_string.length(), frame.getPayloadLen());
|
||||
EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
|
||||
@@ -96,24 +92,22 @@ TEST(Frame, ServiceParseCompile)
|
||||
Frame frame;
|
||||
|
||||
/*
|
||||
* Priority = SERVICE
|
||||
* RequestNotResponse
|
||||
* Priority
|
||||
* Service Type ID
|
||||
* Request Not Response
|
||||
* Destination Node ID
|
||||
* Service Not Message
|
||||
* Source Node ID
|
||||
* Frame Index
|
||||
* Last Frame
|
||||
* Transfer ID
|
||||
*/
|
||||
const uint32_t can_id =
|
||||
(2 << 27) | // Priority (Service)
|
||||
(1 << 26) | // RequestNotResponse
|
||||
(500 << 17) | // Service Type ID
|
||||
(42 << 10) | // Source Node ID
|
||||
(60 << 4) | // Frame Index
|
||||
(1 << 3) | // Last Frame
|
||||
(5 << 0); // Transfer ID
|
||||
(31 << 24) | // Priority
|
||||
(200 << 16) | // Service Type ID
|
||||
(1 << 15) | // Request Not Response
|
||||
(0x42 << 8) | // Destination Node ID
|
||||
(1 << 7) | // Service Not Message
|
||||
(42 << 0); // Source Node ID
|
||||
|
||||
const std::string payload_string = "\x42hello"; // dst = 0x42
|
||||
const std::string payload_string = "hello\x6a"; // SET = 011, TID = 10
|
||||
|
||||
/*
|
||||
* Parse
|
||||
@@ -126,13 +120,14 @@ TEST(Frame, ServiceParseCompile)
|
||||
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
|
||||
|
||||
EXPECT_EQ(TransferID(5), frame.getTransferID());
|
||||
EXPECT_TRUE(frame.isLast());
|
||||
EXPECT_EQ(60, frame.getIndex());
|
||||
EXPECT_FALSE(frame.isStartOfTransfer());
|
||||
EXPECT_TRUE(frame.isEndOfTransfer());
|
||||
EXPECT_TRUE(frame.getToggle());
|
||||
EXPECT_EQ(uavcan::NodeID(42), frame.getSrcNodeID());
|
||||
EXPECT_EQ(uavcan::NodeID(0x42), frame.getDstNodeID());
|
||||
EXPECT_EQ(uavcan::TransferTypeServiceRequest, frame.getTransferType());
|
||||
EXPECT_EQ(500, frame.getDataTypeID().get());
|
||||
EXPECT_EQ(uavcan::TransferPriorityService, frame.getPriority());
|
||||
EXPECT_EQ(31, frame.getPriority().get());
|
||||
|
||||
EXPECT_EQ(payload_string.length(), frame.getPayloadLen() + 1);
|
||||
EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
|
||||
@@ -173,25 +168,20 @@ TEST(Frame, AnonymousParseCompile)
|
||||
Frame frame;
|
||||
|
||||
/*
|
||||
* Priority (LOW, NORMAL, HIGH)
|
||||
* Priority
|
||||
* Discriminator
|
||||
* Message Type ID
|
||||
* Service Not Message
|
||||
* Source Node ID
|
||||
* BroadcastNotUnicast
|
||||
* Frame Index
|
||||
* Last Frame
|
||||
* Transfer ID
|
||||
*/
|
||||
const uint32_t can_id =
|
||||
(0 << 27) | // Priority (high)
|
||||
(2000 << 16) | // Message Type ID
|
||||
(0 << 9) | // Source Node ID
|
||||
(1 << 8) | // BroadcastNotUnicast
|
||||
(11 << 4) | // Frame Index (will be ignored)
|
||||
(1 << 3) | // Last Frame (will be ignored)
|
||||
(2 << 0); // Transfer ID (will be ignored)
|
||||
(16383 << 10) | // Discriminator
|
||||
(1 << 8); // Message Type ID
|
||||
|
||||
const std::string payload_string = "\x01\x02\x03\x04";
|
||||
const uint8_t payload_sum = 1 + 2 + 3 + 4;
|
||||
const std::string payload_string = "hello\x94"; // SET = 100, TID = 20
|
||||
|
||||
uavcan::TransferCRC payload_crc;
|
||||
payload_crc.add(reinterpret_cast<const uint8_t*>(payload_string.c_str()), unsigned(payload_string.length()));
|
||||
|
||||
/*
|
||||
* Parse
|
||||
@@ -199,13 +189,14 @@ TEST(Frame, AnonymousParseCompile)
|
||||
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
|
||||
|
||||
EXPECT_EQ(TransferID(0), frame.getTransferID());
|
||||
EXPECT_TRUE(frame.isLast());
|
||||
EXPECT_EQ(0, frame.getIndex());
|
||||
EXPECT_TRUE(frame.isStartOfTransfer());
|
||||
EXPECT_FALSE(frame.isEndOfTransfer());
|
||||
EXPECT_FALSE(frame.getToggle());
|
||||
EXPECT_TRUE(frame.getSrcNodeID().isBroadcast());
|
||||
EXPECT_TRUE(frame.getDstNodeID().isBroadcast());
|
||||
EXPECT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
|
||||
EXPECT_EQ(2000, frame.getDataTypeID().get());
|
||||
EXPECT_EQ(uavcan::TransferPriorityHigh, frame.getPriority());
|
||||
EXPECT_EQ(1, frame.getDataTypeID().get());
|
||||
EXPECT_EQ(0, frame.getPriority().get());
|
||||
|
||||
EXPECT_EQ(payload_string.length(), frame.getPayloadLen());
|
||||
EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
|
||||
@@ -216,17 +207,20 @@ TEST(Frame, AnonymousParseCompile)
|
||||
/*
|
||||
* Compile
|
||||
*/
|
||||
const uint32_t DiscriminatorMask = 0x00FFFC00;
|
||||
const uint32_t NoDiscriminatorMask = 0xFF0003FF;
|
||||
|
||||
CanFrame can_frame;
|
||||
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
|
||||
|
||||
ASSERT_TRUE(frame.compile(can_frame));
|
||||
ASSERT_EQ(can_id & 0xFFFFFF00 & uavcan::CanFrame::MaskExtID,
|
||||
can_frame.id & 0xFFFFFF00 & uavcan::CanFrame::MaskExtID);
|
||||
ASSERT_EQ(can_id & NoDiscriminatorMask & uavcan::CanFrame::MaskExtID,
|
||||
can_frame.id & NoDiscriminatorMask & uavcan::CanFrame::MaskExtID);
|
||||
|
||||
EXPECT_EQ(payload_string.length(), can_frame.dlc);
|
||||
EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc, payload_string.begin()));
|
||||
|
||||
ASSERT_EQ(payload_sum, can_frame.id & 0xFF);
|
||||
EXPECT_EQ((can_frame.id & DiscriminatorMask & uavcan::CanFrame::MaskExtID) >> 10, payload_crc.get() & 16383);
|
||||
|
||||
/*
|
||||
* Comparison
|
||||
@@ -257,145 +251,44 @@ TEST(Frame, FrameParsing)
|
||||
|
||||
/*
|
||||
* Message CAN ID fields and offsets:
|
||||
* 27 Priority (LOW=3, NORMAL=1, HIGH=0)
|
||||
* 16 Message Type ID
|
||||
* 9 Source Node ID
|
||||
* 8 BroadcastNotUnicast
|
||||
* 4 Frame Index
|
||||
* 3 Last Frame
|
||||
* 0 Transfer ID
|
||||
* 24 Priority
|
||||
* 8 Message Type ID
|
||||
* 7 Service Not Message (0)
|
||||
* 0 Source Node ID
|
||||
*
|
||||
* Service CAN ID fields and offsets:
|
||||
* 27 Priority (SERVICE=2)
|
||||
* 26 RequestNotResponse
|
||||
* 17 Service Type ID
|
||||
* 10 Source Node ID
|
||||
* 4 Frame Index
|
||||
* 3 Last Frame
|
||||
* 0 Transfer ID
|
||||
* 24 Priority
|
||||
* 16 Service Type ID
|
||||
* 15 Request Not Response
|
||||
* 8 Destination Node ID
|
||||
* 7 Service Not Message (1)
|
||||
* 0 Source Node ID
|
||||
*/
|
||||
|
||||
/*
|
||||
* SFT message broadcast
|
||||
*/
|
||||
can.id = CanFrame::FlagEFF |
|
||||
(2 << 0) |
|
||||
(1 << 3) |
|
||||
(0 << 4) |
|
||||
(1 << 8) |
|
||||
(42 << 9) |
|
||||
(456 << 16) |
|
||||
(1 << 27);
|
||||
(2 << 24) |
|
||||
(456 << 8) |
|
||||
(0 << 7) |
|
||||
(42 << 0);
|
||||
|
||||
can.data[7] = 0xc0; // SET=110, TID=0
|
||||
|
||||
ASSERT_TRUE(frame.parse(can));
|
||||
ASSERT_TRUE(frame.isFirst());
|
||||
ASSERT_TRUE(frame.isLast());
|
||||
ASSERT_EQ(uavcan::TransferPriorityNormal, frame.getPriority());
|
||||
ASSERT_EQ(0, frame.getIndex());
|
||||
EXPECT_TRUE(frame.isStartOfTransfer());
|
||||
EXPECT_TRUE(frame.isEndOfTransfer());
|
||||
EXPECT_FALSE(frame.getToggle());
|
||||
ASSERT_EQ(2, frame.getPriority().get());
|
||||
ASSERT_EQ(NodeID(42), frame.getSrcNodeID());
|
||||
ASSERT_EQ(NodeID::Broadcast, frame.getDstNodeID());
|
||||
ASSERT_EQ(456, frame.getDataTypeID().get());
|
||||
ASSERT_EQ(TransferID(2), frame.getTransferID());
|
||||
ASSERT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
|
||||
ASSERT_EQ(sizeof(CanFrame::data), frame.getMaxPayloadLen());
|
||||
|
||||
/*
|
||||
* SFT message unicast
|
||||
*/
|
||||
can.id = CanFrame::FlagEFF |
|
||||
(2 << 0) |
|
||||
(1 << 3) | // Last Frame
|
||||
(0 << 4) | // Frame Index
|
||||
(0 << 8) |
|
||||
(42 << 9) |
|
||||
(456 << 16) |
|
||||
(0 << 27);
|
||||
|
||||
ASSERT_FALSE(frame.parse(can)); // No payload - failure
|
||||
|
||||
can.dlc = 1;
|
||||
can.data[0] = 0xFF;
|
||||
ASSERT_FALSE(frame.parse(can)); // Invalid first byte - failure
|
||||
|
||||
can.data[0] = 127;
|
||||
ASSERT_TRUE(frame.parse(can));
|
||||
|
||||
ASSERT_TRUE(frame.isFirst());
|
||||
ASSERT_TRUE(frame.isLast());
|
||||
ASSERT_EQ(uavcan::TransferPriorityHigh, frame.getPriority());
|
||||
ASSERT_EQ(0, frame.getIndex());
|
||||
ASSERT_EQ(NodeID(42), frame.getSrcNodeID());
|
||||
ASSERT_EQ(NodeID(127), frame.getDstNodeID());
|
||||
ASSERT_EQ(456, frame.getDataTypeID().get());
|
||||
ASSERT_EQ(TransferID(2), frame.getTransferID());
|
||||
ASSERT_EQ(uavcan::TransferTypeMessageUnicast, frame.getTransferType());
|
||||
ASSERT_EQ(sizeof(CanFrame::data) - 1, frame.getMaxPayloadLen());
|
||||
|
||||
/*
|
||||
* MFT message unicast
|
||||
* Invalid - unterminated transfer
|
||||
*/
|
||||
can.id = CanFrame::FlagEFF |
|
||||
(2 << 0) |
|
||||
(0 << 3) |
|
||||
(15 << 4) |
|
||||
(0 << 8) |
|
||||
(42 << 9) |
|
||||
(456 << 16) |
|
||||
(0 << 27);
|
||||
|
||||
ASSERT_FALSE(frame.parse(can));
|
||||
|
||||
/*
|
||||
* MFT service request
|
||||
* Invalid frame index
|
||||
*/
|
||||
can.id = CanFrame::FlagEFF |
|
||||
(2 << 27) | // Priority (Service)
|
||||
(1 << 26) | // RequestNotResponse
|
||||
(500 << 17) | // Service Type ID
|
||||
(42 << 10) | // Source Node ID
|
||||
(63 << 4) | // Frame Index
|
||||
(1 << 3) | // Last Frame
|
||||
(5 << 0); // Transfer ID
|
||||
|
||||
ASSERT_FALSE(frame.parse(can));
|
||||
|
||||
/*
|
||||
* Malformed frames
|
||||
*/
|
||||
can.id = CanFrame::FlagEFF |
|
||||
(2 << 0) |
|
||||
(1 << 3) |
|
||||
(15 << 4) |
|
||||
(0 << 8) |
|
||||
(42 << 9) |
|
||||
(456 << 16) |
|
||||
(3 << 27);
|
||||
can.dlc = 3;
|
||||
can.data[0] = 42;
|
||||
ASSERT_FALSE(frame.parse(can)); // Src == Dst Node ID
|
||||
can.data[0] = 41;
|
||||
ASSERT_TRUE(frame.parse(can));
|
||||
ASSERT_EQ(uavcan::TransferPriorityLow, frame.getPriority());
|
||||
|
||||
/*
|
||||
* Broadcast SNID exceptions
|
||||
* Note that last 3 fields are ignored
|
||||
*/
|
||||
can.id = CanFrame::FlagEFF |
|
||||
(2 << 27) | // Priority
|
||||
(2000 << 16) | // Message Type ID
|
||||
(0 << 9) | // Source Node ID
|
||||
(1 << 8); // BroadcastNotUnicast
|
||||
ASSERT_FALSE(frame.parse(can)); // Invalid priority
|
||||
|
||||
can.id = CanFrame::FlagEFF |
|
||||
(1 << 27) | // Priority
|
||||
(2000 << 16) | // Message Type ID
|
||||
(0 << 9) | // Source Node ID
|
||||
(1 << 8); // BroadcastNotUnicast
|
||||
ASSERT_TRUE(frame.parse(can));
|
||||
// TODO: test service frames
|
||||
// TODO: test malformed frames
|
||||
}
|
||||
|
||||
|
||||
@@ -415,13 +308,10 @@ TEST(Frame, RxFrameParse)
|
||||
// Valid
|
||||
can_rx_frame.ts_mono = uavcan::MonotonicTime::fromUSec(1); // Zero is not allowed
|
||||
can_rx_frame.id = CanFrame::FlagEFF |
|
||||
(2 << 0) |
|
||||
(1 << 3) |
|
||||
(0 << 4) |
|
||||
(1 << 8) |
|
||||
(42 << 9) |
|
||||
(456 << 16) |
|
||||
(1 << 27);
|
||||
(2 << 24) |
|
||||
(456 << 8) |
|
||||
(0 << 7) |
|
||||
(42 << 0);
|
||||
|
||||
ASSERT_TRUE(rx_frame.parse(can_rx_frame));
|
||||
ASSERT_EQ(1, rx_frame.getMonotonicTimestamp().toUSec());
|
||||
@@ -430,7 +320,7 @@ TEST(Frame, RxFrameParse)
|
||||
can_rx_frame.ts_mono = tsMono(123);
|
||||
can_rx_frame.iface_index = 2;
|
||||
|
||||
Frame frame(456, uavcan::TransferTypeMessageBroadcast, 1, uavcan::NodeID::Broadcast, 0, 0);
|
||||
Frame frame(456, uavcan::TransferTypeMessageBroadcast, 1, uavcan::NodeID::Broadcast, 0);
|
||||
ASSERT_TRUE(frame.compile(can_rx_frame));
|
||||
|
||||
ASSERT_TRUE(rx_frame.parse(can_rx_frame));
|
||||
@@ -448,14 +338,13 @@ TEST(Frame, FrameToString)
|
||||
|
||||
// RX frame default
|
||||
RxFrame rx_frame;
|
||||
EXPECT_EQ("prio=4 dtid=65535 tt=4 snid=255 dnid=255 idx=0 last=0 tid=0 payload=[] ts_m=0.000000 ts_utc=0.000000 iface=0",
|
||||
EXPECT_EQ("prio=255 dtid=65535 tt=3 snid=255 dnid=255 sot=0 eot=0 togl=0 tid=0 payload=[] ts_m=0.000000 ts_utc=0.000000 iface=0",
|
||||
rx_frame.toString());
|
||||
|
||||
// RX frame max len
|
||||
rx_frame = RxFrame(Frame(uavcan::DataTypeID::MaxPossibleDataTypeIDValue, uavcan::TransferTypeMessageUnicast,
|
||||
rx_frame = RxFrame(Frame(uavcan::DataTypeID::MaxPossibleDataTypeIDValue, uavcan::TransferTypeMessageBroadcast,
|
||||
uavcan::NodeID::Max, uavcan::NodeID::Max - 1,
|
||||
Frame::getMaxIndexForTransferType(uavcan::TransferTypeMessageUnicast),
|
||||
uavcan::TransferID::Max, true),
|
||||
uavcan::TransferID::Max),
|
||||
uavcan::MonotonicTime::getMax(), uavcan::UtcTime::getMax(), 3);
|
||||
|
||||
uint8_t data[8];
|
||||
@@ -465,7 +354,9 @@ TEST(Frame, FrameToString)
|
||||
}
|
||||
rx_frame.setPayload(data, sizeof(data));
|
||||
|
||||
EXPECT_EQ("prio=1 dtid=2047 tt=3 snid=127 dnid=126 idx=15 last=1 tid=7 payload=[00 01 02 03 04 05 06] "
|
||||
rx_frame.setPriority(uavcan::TransferPriority::NumericallyMax);
|
||||
|
||||
EXPECT_EQ("prio=31 dtid=65535 tt=2 snid=127 dnid=126 sot=0 eot=0 togl=0 tid=0 payload=[00 01 02 03 04 05 06] "
|
||||
"ts_m=18446744073709.551615 ts_utc=18446744073709.551615 iface=3",
|
||||
rx_frame.toString());
|
||||
|
||||
|
||||
Reference in New Issue
Block a user