From 8a5719248f02f56aaef7c18995e14a92f7ec297a Mon Sep 17 00:00:00 2001
From: Ilia <illia.sheremet@gmail.com>
Date: Sat, 19 Dec 2015 16:43:29 +0000
Subject: [PATCH] HW acceptance filters unit test corrected. specificator
 changed for cfg.MK-ID print

---
 .../uc_can_acceptance_filter_configurator.cpp |   4 +-
 .../can_acceptance_filter_configurator.cpp    | 109 ++++++++++++------
 2 files changed, 77 insertions(+), 36 deletions(-)

diff --git a/libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp b/libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp
index 448ebe8405..9a2f9af901 100644
--- a/libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp
+++ b/libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp
@@ -136,9 +136,9 @@ int16_t CanAcceptanceFilterConfigurator::applyConfiguration(void)
 #if UAVCAN_DEBUG
     for (uint16_t i = 0; i < multiset_configs_.getSize(); i++)
     {
-        UAVCAN_TRACE("CanAcceptanceFilterConfigurator::applyConfiguration()", "cfg.ID [%u] = %d", i,
+        UAVCAN_TRACE("CanAcceptanceFilterConfigurator::applyConfiguration()", "cfg.ID [%u] = %u", i,
                      multiset_configs_.getByIndex(i)->id);
-        UAVCAN_TRACE("CanAcceptanceFilterConfigurator::applyConfiguration()", "cfg.MK [%u] = %d", i,
+        UAVCAN_TRACE("CanAcceptanceFilterConfigurator::applyConfiguration()", "cfg.MK [%u] = %u", i,
                      multiset_configs_.getByIndex(i)->mask);
     }
 #endif
diff --git a/libuavcan/test/transport/can_acceptance_filter_configurator.cpp b/libuavcan/test/transport/can_acceptance_filter_configurator.cpp
index ff3e647989..c3d2ba963a 100644
--- a/libuavcan/test/transport/can_acceptance_filter_configurator.cpp
+++ b/libuavcan/test/transport/can_acceptance_filter_configurator.cpp
@@ -123,21 +123,49 @@ TEST(CanAcceptanceFilter, Basic_test)
     sub_6.start(listener_6.bindExtended());
     sub_6_1.start(listener_6.bindExtended());
     server.start(writeServiceServerCallback);
-    std::cout << "Subscribers are initialized ..." << std::endl;
+    std::cout << "Subscribers are initialized." << std::endl;
 
+    uavcan::CanAcceptanceFilterConfigurator anon_test_configuration(node, 10);
 
-    uavcan::CanAcceptanceFilterConfigurator anon_test_configuration(node);
-    int configure_filters_assert = anon_test_configuration.configureFilters();
-    if (configure_filters_assert == 0)
-    {
-        std::cout << "Filters are configured with anonymous configuration..." << std::endl;
-    }
+    uavcan::CanFilterConfig aux_config_1, aux_config_2;
+    aux_config_1.id = 0;
+    aux_config_1.mask = 1488;
+    aux_config_2.id = 24;
+    aux_config_2.mask = 72;
+    int configure_filters_assert;
+    configure_filters_assert = anon_test_configuration.addFilterConfig(aux_config_1);
+    ASSERT_EQ(configure_filters_assert, 0);
+    configure_filters_assert = anon_test_configuration.addFilterConfig(aux_config_2);
+    ASSERT_EQ(configure_filters_assert, 0);
+
+    configure_filters_assert = anon_test_configuration.computeConfiguration();
+    ASSERT_EQ(configure_filters_assert, 0);
+    std::cout << "Filters are calculated with anonymous configuration." << std::endl;
 
     const auto& configure_array = anon_test_configuration.getConfiguration();
     uint32_t configure_array_size = configure_array.getSize();
+    std::cout << "Number of configs after first time computeConfiguration() invoked: "
+            << configure_array_size << std::endl;
+    ASSERT_EQ(configure_array_size, 10);
 
+    std::cout << "Adding two additional configurations ...  " << std::endl;
+    aux_config_2.id = 999999;
+    aux_config_2.mask = 849128412;
+    configure_filters_assert = anon_test_configuration.addFilterConfig(aux_config_1);
     ASSERT_EQ(configure_filters_assert, 0);
-    ASSERT_EQ(configure_array_size, 4);
+    configure_filters_assert = anon_test_configuration.addFilterConfig(aux_config_2);
+    ASSERT_EQ(configure_filters_assert, 0);
+    configure_array_size = configure_array.getSize();
+    std::cout << "New configuration anon_container size: " << configure_array_size << std::endl;
+    ASSERT_EQ(configure_array_size, 12);
+
+    std::cout << "Applying configuration ...  " << std::endl;
+    configure_filters_assert = anon_test_configuration.applyConfiguration();
+    ASSERT_EQ(configure_filters_assert, 0);
+    std::cout << "Filters are configured." << std::endl;
+    configure_array_size = configure_array.getSize();
+    std::cout << "Final configuration anon_container size: " << configure_array_size << std::endl;
+    ASSERT_EQ(configure_array_size, 10);
 
     for (uint16_t i = 0; i<configure_array_size; i++)
     {
@@ -145,42 +173,55 @@ TEST(CanAcceptanceFilter, Basic_test)
         std::cout << "config.MK [" << i << "]= " << configure_array.getByIndex(i)->mask << std::endl;
     }
 
-    ASSERT_EQ(configure_array.getByIndex(0)->id, 256000);
-    ASSERT_EQ(configure_array.getByIndex(0)->mask, 16771968);
-    ASSERT_EQ(configure_array.getByIndex(1)->id, 0);
-    ASSERT_EQ(configure_array.getByIndex(1)->mask, 255);
-    ASSERT_EQ(configure_array.getByIndex(2)->id, 6272);
-    ASSERT_EQ(configure_array.getByIndex(2)->mask, 32640);
-    ASSERT_EQ(configure_array.getByIndex(3)->id, 262144);
-    ASSERT_EQ(configure_array.getByIndex(3)->mask, 16771200);
+    ASSERT_EQ(configure_array.getByIndex(0)->id, 2147489920);
+    ASSERT_EQ(configure_array.getByIndex(0)->mask, 3758129024);
+    ASSERT_EQ(configure_array.getByIndex(1)->id, 2147739648);
+    ASSERT_EQ(configure_array.getByIndex(1)->mask, 3774868352);
+    ASSERT_EQ(configure_array.getByIndex(2)->id, 0);
+    ASSERT_EQ(configure_array.getByIndex(2)->mask, 1488);
+    ASSERT_EQ(configure_array.getByIndex(3)->id, 999999);
+    ASSERT_EQ(configure_array.getByIndex(3)->mask, 849128412);
+    ASSERT_EQ(configure_array.getByIndex(4)->id, 2147745792);
+    ASSERT_EQ(configure_array.getByIndex(4)->mask, 3774872704);
+    ASSERT_EQ(configure_array.getByIndex(5)->id, 2147489920);
+    ASSERT_EQ(configure_array.getByIndex(5)->mask, 3758129024);
+    ASSERT_EQ(configure_array.getByIndex(6)->id, 2147745792);
+    ASSERT_EQ(configure_array.getByIndex(6)->mask, 3774868352);
+    ASSERT_EQ(configure_array.getByIndex(7)->id, 0);
+    ASSERT_EQ(configure_array.getByIndex(7)->mask, 1488);
+    ASSERT_EQ(configure_array.getByIndex(8)->id, 24);
+    ASSERT_EQ(configure_array.getByIndex(8)->mask, 72);
+    ASSERT_EQ(configure_array.getByIndex(9)->id, 2147483648);
+    ASSERT_EQ(configure_array.getByIndex(9)->mask, 3758096639);
 
-
-    uavcan::CanAcceptanceFilterConfigurator no_anon_test_confiruration(node);
-    configure_filters_assert = no_anon_test_confiruration.configureFilters
+    uavcan::CanAcceptanceFilterConfigurator no_anon_test_confiruration(node, 4);
+    configure_filters_assert = no_anon_test_confiruration.computeConfiguration
                                    (uavcan::CanAcceptanceFilterConfigurator::IgnoreAnonymousMessages);
-    if (configure_filters_assert == 0)
-    {
-        std::cout << "Filters are configured without anonymous configuration..." << std::endl;
-    }
+    ASSERT_EQ(configure_filters_assert, 0);
+    std::cout << "Filters are configured without anonymous configuration." << std::endl;
+
+    configure_filters_assert = no_anon_test_confiruration.applyConfiguration();
+    ASSERT_EQ(configure_filters_assert, 0);
+    std::cout << "Filters are configured without anonymous configuration." << std::endl;
+
     const auto& configure_array_2 = no_anon_test_confiruration.getConfiguration();
     configure_array_size = configure_array_2.getSize();
-
     ASSERT_EQ(configure_filters_assert, 0);
     ASSERT_EQ(configure_array_size, 4);
 
     for (uint16_t i = 0; i<configure_array_size; i++)
     {
-        std::cout << "config.ID [" << i << "]= " << configure_array_2.getByIndex(i)->id << std::endl;
-        std::cout << "config.MK [" << i << "]= " << configure_array_2.getByIndex(i)->mask << std::endl;
+        std::cout << "config.ID [" << i << "] = " << configure_array_2.getByIndex(i)->id << std::endl;
+        std::cout << "config.MK [" << i << "] = " << configure_array_2.getByIndex(i)->mask << std::endl;
     }
 
-    ASSERT_EQ(configure_array_2.getByIndex(0)->id, 256000);
-    ASSERT_EQ(configure_array_2.getByIndex(0)->mask, 16771968);
-    ASSERT_EQ(configure_array_2.getByIndex(1)->id, 262144);
-    ASSERT_EQ(configure_array_2.getByIndex(1)->mask, 16776320);
-    ASSERT_EQ(configure_array_2.getByIndex(2)->id, 6272);
-    ASSERT_EQ(configure_array_2.getByIndex(2)->mask, 32640);
-    ASSERT_EQ(configure_array_2.getByIndex(3)->id, 262144);
-    ASSERT_EQ(configure_array_2.getByIndex(3)->mask, 16771968);
+    ASSERT_EQ(configure_array_2.getByIndex(0)->id, 2147739648);
+    ASSERT_EQ(configure_array_2.getByIndex(0)->mask, 3774868352);
+    ASSERT_EQ(configure_array_2.getByIndex(1)->id, 2147745792);
+    ASSERT_EQ(configure_array_2.getByIndex(1)->mask, 3774872704);
+    ASSERT_EQ(configure_array_2.getByIndex(2)->id, 2147489920);
+    ASSERT_EQ(configure_array_2.getByIndex(2)->mask, 3758129024);
+    ASSERT_EQ(configure_array_2.getByIndex(3)->id, 2147745792);
+    ASSERT_EQ(configure_array_2.getByIndex(3)->mask, 3774868352);
 }
 #endif