NodeInitializer - performs network checks during intialization: NodeID collisions, incompatible data types

2026-10-21 02:43:33 +08:00 · 2014-03-28 00:15:19 +04:00
parent 49eb6fa463
commit 96aa295615
4 changed files with 405 additions and 0 deletions
@@ -5,6 +5,7 @@
 #pragma once

 #include <uavcan/node/subscriber.hpp>
+#include <uavcan/node/timer.hpp>
 #include <uavcan/node/service_client.hpp>
 #include <uavcan/util/method_binder.hpp>
 #include "../node/test_node.hpp"
@@ -86,3 +87,19 @@ struct ServiceClientWithCollector
        return client.call(node_id, request);
    }
 };
+
+
+struct BackgroundSpinner : uavcan::TimerBase
+{
+    uavcan::INode& spinning_node;
+
+    BackgroundSpinner(uavcan::INode& spinning_node, uavcan::INode& running_node)
+        : uavcan::TimerBase(running_node)
+        , spinning_node(spinning_node)
+    { }
+
+    void handleTimerEvent(const uavcan::TimerEvent&)
+    {
+        spinning_node.spin(uavcan::MonotonicDuration::fromMSec(1));
+    }
+};
@@ -0,0 +1,116 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/protocol/node_initializer.hpp>
+#include <uavcan/protocol/node_status_provider.hpp>
+#include <uavcan/protocol/data_type_info_provider.hpp>
+#include <uavcan/protocol/GlobalDiscoveryRequest.hpp>
+#include <memory>
+#include "helpers.hpp"
+
+
+static void registerTypes()
+{
+    uavcan::GlobalDataTypeRegistry::instance().reset();
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GlobalDiscoveryRequest> _reg1;
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg2;
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::ComputeAggregateTypeSignature> _reg3;
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg4;
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetDataTypeInfo> _reg5;
+}
+
+
+struct NodeInitializerRemoteContext
+{
+    uavcan::NodeStatusProvider node_status_provider;
+    uavcan::DataTypeInfoProvider data_type_info_provider;
+
+    NodeInitializerRemoteContext(uavcan::INode& node)
+        : node_status_provider(node)
+        , data_type_info_provider(node)
+    {
+        node_status_provider.setName("com.example");
+        uavcan::protocol::SoftwareVersion swver;
+        swver.build = 1;
+        node_status_provider.setSoftwareVersion(swver);
+    }
+
+    void start()
+    {
+        ASSERT_LE(0, node_status_provider.startAndPublish());
+        ASSERT_LE(0, data_type_info_provider.start());
+    }
+};
+
+
+TEST(NodeInitializer, Size)
+{
+    std::cout << "sizeof(uavcan::NodeInitializer): " << sizeof(uavcan::NodeInitializer) << std::endl;
+    ASSERT_TRUE(sizeof(uavcan::NodeInitializer) < 1024);
+}
+
+
+TEST(NodeInitializer, EmptyNetwork)
+{
+    registerTypes();
+    InterlinkedTestNodesWithSysClock nodes;
+
+    ASSERT_LE(0, uavcan::NodeInitializer::publishGlobalDiscoveryRequest(nodes.a));
+
+    uavcan::NodeInitializer ni(nodes.a);
+    ASSERT_LE(0, ni.execute());
+    ASSERT_TRUE(ni.getResult().isOk());
+}
+
+
+TEST(NodeInitializer, Success)
+{
+    registerTypes();
+    InterlinkedTestNodesWithSysClock nodes;
+    NodeInitializerRemoteContext remote(nodes.b);
+    remote.start();
+
+    BackgroundSpinner bgspinner(nodes.b, nodes.a);
+    bgspinner.startPeriodic(uavcan::MonotonicDuration::fromMSec(10));
+
+    ASSERT_LE(0, uavcan::NodeInitializer::publishGlobalDiscoveryRequest(nodes.a));
+
+    uavcan::NodeInitializer ni(nodes.a);
+    ASSERT_LE(0, ni.execute());
+    ASSERT_TRUE(ni.getResult().isOk());
+}
+
+
+TEST(NodeInitializer, RequestTimeout)
+{
+    registerTypes();
+    InterlinkedTestNodesWithSysClock nodes;
+    NodeInitializerRemoteContext remote(nodes.b);
+    remote.start();
+
+    ASSERT_LE(0, uavcan::NodeInitializer::publishGlobalDiscoveryRequest(nodes.a));
+
+    uavcan::NodeInitializer ni(nodes.a);
+    ASSERT_GT(0, ni.execute());            // There is no background spinner, so CATS request will time out
+}
+
+
+TEST(NodeInitializer, NodeIDCollision)
+{
+    registerTypes();
+    InterlinkedTestNodesWithSysClock nodes(8, 8);   // Same NID
+    NodeInitializerRemoteContext remote(nodes.b);
+    remote.start();
+
+    BackgroundSpinner bgspinner(nodes.b, nodes.a);
+    bgspinner.startPeriodic(uavcan::MonotonicDuration::fromMSec(10));
+
+    ASSERT_LE(0, uavcan::NodeInitializer::publishGlobalDiscoveryRequest(nodes.a));
+
+    uavcan::NodeInitializer ni(nodes.a);
+    ASSERT_LE(0, ni.execute());
+    ASSERT_FALSE(ni.getResult().isOk());
+    ASSERT_EQ(8, ni.getResult().conflicting_node.get());
+}