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CAN IO flags

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This commit is contained in:
Pavel Kirienko
2014-03-21 16:02:05 +04:00
parent 6246f24297
commit 9d35c616ef
13 changed files with 258 additions and 88 deletions
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libuavcan/test/transport/can/tx_queue.cpp
+18 -15
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@@ -33,8 +33,9 @@ static bool isInQueue(uavcan::CanTxQueue& queue, const uavcan::CanFrame& frame)
TEST(CanTxQueue, Qos)
{
uavcan::CanTxQueue::Entry e1(makeCanFrame(100, "", EXT), tsMono(1000), uavcan::CanTxQueue::Volatile);
uavcan::CanTxQueue::Entry e2(makeCanFrame(100, "", EXT), tsMono(1000), uavcan::CanTxQueue::Volatile);
const uavcan::CanIOFlags flags = 0;
uavcan::CanTxQueue::Entry e1(makeCanFrame(100, "", EXT), tsMono(1000), uavcan::CanTxQueue::Volatile, flags);
uavcan::CanTxQueue::Entry e2(makeCanFrame(100, "", EXT), tsMono(1000), uavcan::CanTxQueue::Volatile, flags);
EXPECT_FALSE(e1.qosHigherThan(e2));
EXPECT_FALSE(e2.qosHigherThan(e1));
@@ -73,6 +74,8 @@ TEST(CanTxQueue, TxQueue)
CanTxQueue queue(&poolmgr, &clockmock);
EXPECT_TRUE(queue.isEmpty());
const uavcan::CanIOFlags flags = 0;
// Descending priority
const CanFrame f0 = makeCanFrame(0, "f0", EXT);
const CanFrame f1 = makeCanFrame(10, "f1", EXT);
@@ -86,7 +89,7 @@ TEST(CanTxQueue, TxQueue)
/*
* Priority insertion
*/
queue.push(f4, tsMono(100), CanTxQueue::Persistent);
queue.push(f4, tsMono(100), CanTxQueue::Persistent, flags);
EXPECT_FALSE(queue.isEmpty());
EXPECT_EQ(1, pool32.getNumUsedBlocks());
EXPECT_EQ(f4, queue.peek()->frame);
@@ -94,13 +97,13 @@ TEST(CanTxQueue, TxQueue)
EXPECT_TRUE(queue.topPriorityHigherOrEqual(f4)); // Equal
EXPECT_FALSE(queue.topPriorityHigherOrEqual(f3));
queue.push(f3, tsMono(200), CanTxQueue::Persistent);
queue.push(f3, tsMono(200), CanTxQueue::Persistent, flags);
EXPECT_EQ(f3, queue.peek()->frame);
queue.push(f0, tsMono(300), CanTxQueue::Volatile);
queue.push(f0, tsMono(300), CanTxQueue::Volatile, flags);
EXPECT_EQ(f0, queue.peek()->frame);
queue.push(f1, tsMono(400), CanTxQueue::Volatile);
queue.push(f1, tsMono(400), CanTxQueue::Volatile, flags);
EXPECT_EQ(f0, queue.peek()->frame); // Still f0, since it is highest
EXPECT_TRUE(queue.topPriorityHigherOrEqual(f0)); // Equal
EXPECT_TRUE(queue.topPriorityHigherOrEqual(f1));
@@ -125,28 +128,28 @@ TEST(CanTxQueue, TxQueue)
* QoS
*/
EXPECT_FALSE(isInQueue(queue, f2));
queue.push(f2, tsMono(100), CanTxQueue::Volatile); // Non preempting, will be rejected
queue.push(f2, tsMono(100), CanTxQueue::Volatile, flags); // Non preempting, will be rejected
EXPECT_FALSE(isInQueue(queue, f2));
queue.push(f2, tsMono(500), CanTxQueue::Persistent); // Will override f1 (f3 and f4 are presistent)
queue.push(f2, tsMono(500), CanTxQueue::Persistent, flags); // Will override f1 (f3 and f4 are presistent)
EXPECT_TRUE(isInQueue(queue, f2));
EXPECT_FALSE(isInQueue(queue, f1));
EXPECT_EQ(4, getQueueLength(queue));
EXPECT_EQ(2, queue.getNumRejectedFrames());
EXPECT_EQ(f0, queue.peek()->frame); // Check the priority
queue.push(f5, tsMono(600), CanTxQueue::Persistent); // Will override f0 (rest are presistent)
queue.push(f5, tsMono(600), CanTxQueue::Persistent, flags); // Will override f0 (rest are presistent)
EXPECT_TRUE(isInQueue(queue, f5));
EXPECT_FALSE(isInQueue(queue, f0));
EXPECT_EQ(f2, queue.peek()->frame); // Check the priority
// No volatile frames left now
queue.push(f5a, tsMono(700), CanTxQueue::Persistent); // Will override f5 (same frame, same QoS)
queue.push(f5a, tsMono(700), CanTxQueue::Persistent, flags); // Will override f5 (same frame, same QoS)
EXPECT_TRUE(isInQueue(queue, f5a));
EXPECT_FALSE(isInQueue(queue, f5));
queue.push(f6, tsMono(700), CanTxQueue::Persistent); // Will be rejected (lowest QoS)
queue.push(f6, tsMono(700), CanTxQueue::Persistent, flags); // Will be rejected (lowest QoS)
EXPECT_FALSE(isInQueue(queue, f6));
EXPECT_FALSE(queue.topPriorityHigherOrEqual(f0));
@@ -165,19 +168,19 @@ TEST(CanTxQueue, TxQueue)
* Expiration
*/
clockmock.monotonic = 101;
queue.push(f0, tsMono(800), CanTxQueue::Volatile); // Will replace f4 which is expired now
queue.push(f0, tsMono(800), CanTxQueue::Volatile, flags); // Will replace f4 which is expired now
EXPECT_TRUE(isInQueue(queue, f0));
EXPECT_FALSE(isInQueue(queue, f4));
EXPECT_EQ(6, queue.getNumRejectedFrames());
clockmock.monotonic = 1001;
queue.push(f5, tsMono(2000), CanTxQueue::Volatile); // Entire queue is expired
queue.push(f5, tsMono(2000), CanTxQueue::Volatile, flags); // Entire queue is expired
EXPECT_TRUE(isInQueue(queue, f5));
EXPECT_EQ(1, getQueueLength(queue)); // Just one entry left - f5
EXPECT_EQ(1, pool32.getNumUsedBlocks()); // Make sure there is no leaks
EXPECT_EQ(10, queue.getNumRejectedFrames());
queue.push(f0, tsMono(1000), CanTxQueue::Persistent); // This entry is already expired
queue.push(f0, tsMono(1000), CanTxQueue::Persistent, flags); // This entry is already expired
EXPECT_EQ(1, getQueueLength(queue));
EXPECT_EQ(1, pool32.getNumUsedBlocks());
EXPECT_EQ(11, queue.getNumRejectedFrames());
@@ -185,7 +188,7 @@ TEST(CanTxQueue, TxQueue)
/*
* Removing
*/
queue.push(f4, tsMono(5000), CanTxQueue::Volatile);
queue.push(f4, tsMono(5000), CanTxQueue::Volatile, flags);
EXPECT_EQ(2, getQueueLength(queue));
EXPECT_TRUE(isInQueue(queue, f4));
EXPECT_EQ(f4, queue.peek()->frame);