fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-29 01:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Testing framework: added emulateSingleFrameBroadcastTransfer()

Browse Source
This commit is contained in:
Pavel Kirienko
2015-05-13 16:39:22 +03:00
parent 8f1ed202f7
commit a548d8311c
2 changed files with 29 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/test/protocol/helpers.hpp
+28
View File
@@ -103,3 +103,31 @@ struct BackgroundSpinner : uavcan::TimerBase
spinning_node.spin(uavcan::MonotonicDuration::fromMSec(1)); 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);
}
}
libuavcan/test/protocol/node_status_monitor.cpp
+1 -23
View File
@@ -10,32 +10,10 @@
static void publishNodeStatus(CanDriverMock& can, uavcan::NodeID node_id, uavcan::uint8_t status_code, static void publishNodeStatus(CanDriverMock& can, uavcan::NodeID node_id, uavcan::uint8_t status_code,
uavcan::uint32_t uptime_sec, uavcan::TransferID tid) uavcan::uint32_t uptime_sec, uavcan::TransferID tid)
{ {
uavcan::StaticTransferBuffer<100> buffer;
uavcan::BitStream bitstream(buffer);
uavcan::ScalarCodec codec(bitstream);
uavcan::protocol::NodeStatus msg; uavcan::protocol::NodeStatus msg;
msg.status_code = status_code; msg.status_code = status_code;
msg.uptime_sec = uptime_sec; msg.uptime_sec = uptime_sec;
emulateSingleFrameBroadcastTransfer(can, node_id, msg, tid);
// 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);
}
} }