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Dispatcher tests fixed, 13 to go

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This commit is contained in:
Pavel Kirienko
2015-07-03 07:29:32 +03:00
parent 591cfcb98a
commit 8debad440e
2 changed files with 11 additions and 18 deletions
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libuavcan/test/transport/dispatcher.cpp
+6 -13
View File
@@ -129,8 +129,8 @@ TEST(Dispatcher, Reception)
emulator.makeTransfer(5, uavcan::TransferTypeMessageBroadcast, 11, DATA[1], TYPES[1]),
emulator.makeTransfer(10, uavcan::TransferTypeServiceRequest, 12, DATA[2], TYPES[2]),
emulator.makeTransfer(15, uavcan::TransferTypeServiceResponse, 13, DATA[4], TYPES[3]),
emulator.makeTransfer(20, uavcan::TransferTypeMessageBroadcast, 14, DATA[3], TYPES[0]),
emulator.makeTransfer(25, uavcan::TransferTypeMessageBroadcast, 15, DATA[5], TYPES[1]),
emulator.makeTransfer(20, uavcan::TransferTypeMessageBroadcast, 14, DATA[3], TYPES[0]),
emulator.makeTransfer(25, uavcan::TransferTypeMessageBroadcast, 15, DATA[5], TYPES[1]),
// Wrongly addressed:
emulator.makeTransfer(29, uavcan::TransferTypeServiceResponse, 10, DATA[0], TYPES[3], 100),
emulator.makeTransfer(31, uavcan::TransferTypeServiceRequest, 11, DATA[4], TYPES[2], 101)
@@ -198,19 +198,12 @@ TEST(Dispatcher, Reception)
/*
* Matching.
* Expected reception order per subsciber:
* 0: 0, 4
* 1: 0, 4
* 2: 5, 1
* 3: 2
* 4: 3
* 5: 3
*/
ASSERT_TRUE(subscribers[0]->matchAndPop(transfers[0]));
ASSERT_TRUE(subscribers[0]->matchAndPop(transfers[4]));
ASSERT_TRUE(subscribers[0]->matchAndPop(transfers[0]));
ASSERT_TRUE(subscribers[1]->matchAndPop(transfers[0]));
ASSERT_TRUE(subscribers[1]->matchAndPop(transfers[4]));
ASSERT_TRUE(subscribers[1]->matchAndPop(transfers[0]));
ASSERT_TRUE(subscribers[2]->matchAndPop(transfers[5]));
ASSERT_TRUE(subscribers[2]->matchAndPop(transfers[1]));
@@ -251,7 +244,7 @@ TEST(Dispatcher, Reception)
* RX listener
*/
std::cout << "Num received frames: " << rx_listener.rx_frames.size() << std::endl;
ASSERT_EQ(218, rx_listener.rx_frames.size());
ASSERT_EQ(292, rx_listener.rx_frames.size());
}
@@ -286,7 +279,7 @@ TEST(Dispatcher, Transmission)
ASSERT_FALSE(dispatcher.hasPublisher(123));
ASSERT_FALSE(dispatcher.hasPublisher(456));
const uavcan::OutgoingTransferRegistryKey otr_key(123, uavcan::TransferTypeServiceRequest, 2);
const uavcan::OutgoingTransferRegistryKey otr_key(123, uavcan::TransferTypeMessageBroadcast, 0);
ASSERT_TRUE(out_trans_reg.accessOrCreate(otr_key, uavcan::MonotonicTime::fromMSec(1000000)));
ASSERT_TRUE(dispatcher.hasPublisher(123));
ASSERT_FALSE(dispatcher.hasPublisher(456));
libuavcan/test/transport/transfer_test_helpers.hpp
+5 -5
View File
@@ -194,16 +194,16 @@ std::vector<uavcan::RxFrame> serializeTransfer(const Transfer& transfer)
uavcan::MonotonicTime ts_monotonic = transfer.ts_monotonic;
uavcan::UtcTime ts_utc = transfer.ts_utc;
uavcan::Frame frm(transfer.data_type.getID(), transfer.transfer_type, transfer.src_node_id,
transfer.dst_node_id, transfer.transfer_id);
frm.setStartOfTransfer(true);
frm.setPriority(transfer.priority);
while (true)
{
const int bytes_left = int(raw_payload.size()) - int(offset);
EXPECT_TRUE(bytes_left >= 0);
uavcan::Frame frm(transfer.data_type.getID(), transfer.transfer_type, transfer.src_node_id,
transfer.dst_node_id, transfer.transfer_id);
frm.setStartOfTransfer(true);
const int spres = frm.setPayload(&*(raw_payload.begin() + offset), unsigned(bytes_left));
if (spres < 0)
{