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NodeDiscoverer: another test

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This commit is contained in:
Pavel Kirienko 2015-05-11 18:26:42 +03:00
parent 558171bf71
commit 8df1cfe1d9
2 changed files with 116 additions and 3 deletions
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33
libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
View File

@ -183,11 +183,38 @@ class NodeDiscoverer : TimerBase
}
}
NodeID pickNextNodeToQueryAndCleanupMap()
{
NodeID node_id;
do
{
node_id = pickNextNodeToQuery();
if (node_id.isUnicast())
{
if (needToQuery(node_id))
{
return node_id;
}
else
{
node_map_.remove(node_id);
}
}
}
while (node_id.isUnicast());
return NodeID();
}
void finalizeNodeDiscovery(const UniqueID* unique_id_or_null, NodeID node_id)
{
trace(TraceDiscoveryNodeFinalized, node_id.get() | ((unique_id_or_null == NULL) ? 0U : 0x100U));
node_map_.remove(node_id);
if (needToQuery(node_id)) // Making sure the server is still interested
/*
* It is paramount to check if the server is still interested to receive this data.
* Otherwise, if the node appeared in the log while we were waiting for response, we'd end up with
* duplicate node ID in the log.
*/
if (needToQuery(node_id))
{
handler_.handleNewNodeDiscovery(unique_id_or_null, node_id);
}
@ -235,7 +262,7 @@ class NodeDiscoverer : TimerBase
return; // Timer must continue to run in order to not stuck when it unlocks
}
const NodeID node_id = pickNextNodeToQuery();
const NodeID node_id = pickNextNodeToQueryAndCleanupMap();
if (!node_id.isUnicast())
{
trace(TraceDiscoveryTimerStop, 0);
@ -285,7 +312,7 @@ class NodeDiscoverer : TimerBase
if (!isRunning())
{
trace(TraceDiscoveryTimerStart, get_node_info_client_.getRequestTimeout().toUSec());
startPeriodic(get_node_info_client_.getRequestTimeout());
startPeriodic(get_node_info_client_.getRequestTimeout() * 2);
}
}

86
libuavcan/test/protocol/dynamic_node_id_server/node_discoverer.cpp
View File

@ -183,3 +183,89 @@ TEST(dynamic_node_id_server_NodeDiscoverer, Basic)
ASSERT_TRUE(handler.findNode(get_node_info_server.response.hardware_version.unique_id));
ASSERT_EQ(2, handler.findNode(get_node_info_server.response.hardware_version.unique_id)->node_id.get());
}
TEST(dynamic_node_id_server_NodeDiscoverer, RestartAndMaxAttempts)
{
using namespace uavcan::protocol::dynamic_node_id::server;
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg1;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg2;
EventTracer tracer;
InterlinkedTestNodesWithSysClock nodes;
NodeDiscoveryHandler handler;
NodeDiscoverer disc(nodes.a, tracer, handler);
/*
* Initialization
*/
ASSERT_LE(0, disc.init());
ASSERT_FALSE(disc.hasUnknownNodes());
/*
* Publishing NodeStatus once to trigger querying
* Querying for 2 seconds, no responses will be sent (there's no server)
*/
handler.can_discover = true;
uavcan::Publisher<uavcan::protocol::NodeStatus> node_status_pub(nodes.b);
ASSERT_LE(0, node_status_pub.init());
uavcan::protocol::NodeStatus node_status;
node_status.status_code = node_status.STATUS_OK; // Status will be ignored anyway
node_status.uptime_sec = 10; // Nonzero
ASSERT_LE(0, node_status_pub.broadcast(node_status));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(3400));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNewNodeFound));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryTimerStart));
ASSERT_EQ(0, tracer.countEvents(TraceDiscoveryTimerStop));
ASSERT_LE(3, tracer.countEvents(TraceDiscoveryGetNodeInfoRequest));
ASSERT_LE(3, tracer.countEvents(TraceDiscoveryGetNodeInfoFailure));
ASSERT_EQ(0, tracer.countEvents(TraceDiscoveryNodeFinalized));
ASSERT_EQ(0, tracer.countEvents(TraceDiscoveryNodeRestartDetected));
ASSERT_TRUE(disc.hasUnknownNodes());
/*
* Emulating node restart
*/
node_status.status_code = node_status.STATUS_OK; // Status will be ignored anyway
node_status.uptime_sec = 9; // Less than previous
ASSERT_LE(0, node_status_pub.broadcast(node_status));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(3400));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNewNodeFound));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryTimerStart));
ASSERT_EQ(0, tracer.countEvents(TraceDiscoveryTimerStop));
ASSERT_LE(6, tracer.countEvents(TraceDiscoveryGetNodeInfoRequest));
ASSERT_LE(6, tracer.countEvents(TraceDiscoveryGetNodeInfoFailure));
ASSERT_EQ(0, tracer.countEvents(TraceDiscoveryNodeFinalized));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNodeRestartDetected));
ASSERT_TRUE(disc.hasUnknownNodes());
/*
* Waiting for timeout
*/
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(3400));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNewNodeFound));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryTimerStart));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryTimerStop));
ASSERT_LE(8, tracer.countEvents(TraceDiscoveryGetNodeInfoRequest));
ASSERT_LE(8, tracer.countEvents(TraceDiscoveryGetNodeInfoFailure));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNodeFinalized));
ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNodeRestartDetected));
ASSERT_FALSE(disc.hasUnknownNodes());
/*
* Checking the results
*/
ASSERT_TRUE(handler.findNode(UniqueID()));
ASSERT_EQ(2, handler.findNode(UniqueID())->node_id.get());
}