From 8d000583076b334b3352d8b17b61ed610535c0b7 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 2 Jul 2015 22:07:11 +0300
Subject: [PATCH] Unittest fix

---
 libuavcan/src/transport/uc_frame.cpp | 2 ++
 libuavcan/test/data_type.cpp         | 2 +-
 libuavcan/test/transport/frame.cpp   | 9 +++++----
 3 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/libuavcan/src/transport/uc_frame.cpp b/libuavcan/src/transport/uc_frame.cpp
index 6d49fec0db..0672f65810 100644
--- a/libuavcan/src/transport/uc_frame.cpp
+++ b/libuavcan/src/transport/uc_frame.cpp
@@ -35,6 +35,7 @@ bool Frame::parse(const CanFrame& can_frame)
 {
     if (can_frame.isErrorFrame() || can_frame.isRemoteTransmissionRequest() || !can_frame.isExtended())
     {
+        UAVCAN_TRACE("Frame", "Parsing failed at line %d", __LINE__);
         return false;
     }
 
@@ -46,6 +47,7 @@ bool Frame::parse(const CanFrame& can_frame)
 
     if (can_frame.dlc < 1)
     {
+        UAVCAN_TRACE("Frame", "Parsing failed at line %d", __LINE__);
         return false;
     }
 
diff --git a/libuavcan/test/data_type.cpp b/libuavcan/test/data_type.cpp
index 5d94b0eacb..a95bdbb32f 100644
--- a/libuavcan/test/data_type.cpp
+++ b/libuavcan/test/data_type.cpp
@@ -136,7 +136,7 @@ TEST(DataTypeID, Basic)
     uavcan::DataTypeID id2 = 255;
 
     ASSERT_EQ(123, id.get());
-    ASSERT_EQ(456, id2.get());
+    ASSERT_EQ(255, id2.get());
 
     ASSERT_TRUE(id.isValidForDataTypeKind(uavcan::DataTypeKindMessage));
     ASSERT_TRUE(id.isValidForDataTypeKind(uavcan::DataTypeKindService));
diff --git a/libuavcan/test/transport/frame.cpp b/libuavcan/test/transport/frame.cpp
index abcd95d542..700f09166c 100644
--- a/libuavcan/test/transport/frame.cpp
+++ b/libuavcan/test/transport/frame.cpp
@@ -50,10 +50,10 @@ TEST(Frame, MessageParseCompile)
     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(20000, frame.getDataTypeID().get());
     EXPECT_EQ(16, frame.getPriority().get());
 
-    EXPECT_EQ(payload_string.length(), frame.getPayloadLen());
+    EXPECT_EQ(payload_string.length() - 1, frame.getPayloadLen());
     EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
                            payload_string.begin()));
 
@@ -69,6 +69,7 @@ TEST(Frame, MessageParseCompile)
     ASSERT_EQ(can_frame, makeCanFrame(can_id, payload_string, EXT));
 
     EXPECT_EQ(payload_string.length(), can_frame.dlc);
+    std::cout << can_frame.toString() << std::endl;
     EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc, payload_string.begin()));
 
     /*
@@ -119,14 +120,14 @@ TEST(Frame, ServiceParseCompile)
     // Valid
     ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
 
-    EXPECT_EQ(TransferID(5), frame.getTransferID());
+    EXPECT_EQ(TransferID(10), frame.getTransferID());
     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(200, frame.getDataTypeID().get());
     EXPECT_EQ(31, frame.getPriority().get());
 
     EXPECT_EQ(payload_string.length(), frame.getPayloadLen() + 1);