From a548d8311ce9c72562327bc92cd02b7ee2f38f2c Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Wed, 13 May 2015 16:39:22 +0300
Subject: [PATCH] Testing framework: added
 emulateSingleFrameBroadcastTransfer()

---
 libuavcan/test/protocol/helpers.hpp           | 28 +++++++++++++++++++
 .../test/protocol/node_status_monitor.cpp     | 24 +---------------
 2 files changed, 29 insertions(+), 23 deletions(-)

diff --git a/libuavcan/test/protocol/helpers.hpp b/libuavcan/test/protocol/helpers.hpp
index df8085566e..171fb66871 100644
--- a/libuavcan/test/protocol/helpers.hpp
+++ b/libuavcan/test/protocol/helpers.hpp
@@ -103,3 +103,31 @@ struct BackgroundSpinner : uavcan::TimerBase
         spinning_node.spin(uavcan::MonotonicDuration::fromMSec(1));
     }
 };
+
+template <typename MessageType>
+static inline void emulateSingleFrameBroadcastTransfer(CanDriverMock& can, uavcan::NodeID node_id,
+                                                       const MessageType& message, uavcan::TransferID tid)
+{
+    uavcan::StaticTransferBuffer<100> buffer;
+    uavcan::BitStream bitstream(buffer);
+    uavcan::ScalarCodec codec(bitstream);
+
+    // Manual message publication
+    ASSERT_LT(0, MessageType::encode(message, codec));
+    ASSERT_GE(8, buffer.getMaxWritePos());
+
+    // DataTypeID data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
+    // uint_fast8_t frame_index, TransferID transfer_id, bool last_frame
+    uavcan::Frame frame(MessageType::DefaultDataTypeID, uavcan::TransferTypeMessageBroadcast,
+                        node_id, uavcan::NodeID::Broadcast, 0, tid, true);
+
+    ASSERT_EQ(buffer.getMaxWritePos(), frame.setPayload(buffer.getRawPtr(), buffer.getMaxWritePos()));
+
+    uavcan::CanFrame can_frame;
+    ASSERT_TRUE(frame.compile(can_frame));
+
+    for (uint8_t i = 0; i < can.getNumIfaces(); i++)
+    {
+        can.ifaces.at(i).pushRx(can_frame);
+    }
+}
diff --git a/libuavcan/test/protocol/node_status_monitor.cpp b/libuavcan/test/protocol/node_status_monitor.cpp
index bfb97b0053..4f47b33252 100644
--- a/libuavcan/test/protocol/node_status_monitor.cpp
+++ b/libuavcan/test/protocol/node_status_monitor.cpp
@@ -10,32 +10,10 @@
 static void publishNodeStatus(CanDriverMock& can, uavcan::NodeID node_id, uavcan::uint8_t status_code,
                               uavcan::uint32_t uptime_sec, uavcan::TransferID tid)
 {
-    uavcan::StaticTransferBuffer<100> buffer;
-    uavcan::BitStream bitstream(buffer);
-    uavcan::ScalarCodec codec(bitstream);
-
     uavcan::protocol::NodeStatus msg;
     msg.status_code = status_code;
     msg.uptime_sec = uptime_sec;
-
-    // Manual message publication
-    ASSERT_LT(0, uavcan::protocol::NodeStatus::encode(msg, codec));
-    ASSERT_GE(8, buffer.getMaxWritePos());
-
-    // DataTypeID data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
-    // uint_fast8_t frame_index, TransferID transfer_id, bool last_frame
-    uavcan::Frame frame(uavcan::protocol::NodeStatus::DefaultDataTypeID, uavcan::TransferTypeMessageBroadcast,
-                        node_id, uavcan::NodeID::Broadcast, 0, tid, true);
-
-    ASSERT_EQ(buffer.getMaxWritePos(), frame.setPayload(buffer.getRawPtr(), buffer.getMaxWritePos()));
-
-    uavcan::CanFrame can_frame;
-    ASSERT_TRUE(frame.compile(can_frame));
-
-    for (uint8_t i = 0; i < can.getNumIfaces(); i++)
-    {
-        can.ifaces.at(i).pushRx(can_frame);
-    }
+    emulateSingleFrameBroadcastTransfer(can, node_id, msg, tid);
 }