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Global discovery request removed

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Pavel Kirienko
2015-07-05 07:21:34 +03:00
parent 36a7c7e7a9
commit a25a9252a7
9 changed files with 2 additions and 54 deletions
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libuavcan/test/protocol/node_status_provider.cpp
-20
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@@ -43,7 +43,6 @@ TEST(NodeStatusProvider, Basic)
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg1;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg2;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GlobalDiscoveryRequest> _reg3;
ASSERT_LE(0, nsp.startAndPublish());
// Checking the publishing rate settings
@@ -111,23 +110,4 @@ TEST(NodeStatusProvider, Basic)
ASSERT_TRUE(swver == gni_cln.collector.result->getResponse().software_version);
ASSERT_EQ("superluminal_communication_unit", gni_cln.collector.result->getResponse().name);
/*
* GlobalDiscoveryRequest
*/
uavcan::Publisher<uavcan::protocol::GlobalDiscoveryRequest> gdr_pub(nodes.b);
status_sub.collector.msg.reset();
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_FALSE(status_sub.collector.msg.get()); // Nothing!
ASSERT_LE(0, gdr_pub.broadcast(uavcan::protocol::GlobalDiscoveryRequest()));
nsp.setStatusWarning();
status_sub.collector.msg.reset();
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_TRUE(status_sub.collector.msg.get());
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_WARNING, status_sub.collector.msg->status_code);
}