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Improved allocation logic

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This commit is contained in:
Pavel Kirienko
2015-05-10 14:12:19 +03:00
parent 67b33a712e
commit aae4317beb
4 changed files with 113 additions and 85 deletions
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libuavcan/test/protocol/dynamic_node_id_server/allocation_request_manager.cpp
+10 -4
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@@ -15,11 +15,20 @@ class AllocationRequestHandler : public uavcan::dynamic_node_id_server::IAllocat
std::vector<std::pair<UniqueID, uavcan::NodeID> > requests_;
public:
bool can_followup;
AllocationRequestHandler() : can_followup(false) { }
virtual void handleAllocationRequest(const UniqueID& unique_id, uavcan::NodeID preferred_node_id)
{
requests_.push_back(std::pair<UniqueID, uavcan::NodeID>(unique_id, preferred_node_id));
}
virtual bool canPublishFollowupAllocationResponse() const
{
return can_followup;
}
bool matchAndPopLastRequest(const UniqueID& unique_id, uavcan::NodeID preferred_node_id)
{
if (requests_.empty())
@@ -80,15 +89,12 @@ TEST(dynamic_node_id_server_AllocationRequestManager, Basic)
* Request manager initialization
*/
AllocationRequestHandler handler;
handler.can_followup = true;
AllocationRequestManager manager(nodes.a, handler);
ASSERT_LE(0, manager.init());
ASSERT_FALSE(manager.isActive());
manager.setActive(true);
ASSERT_TRUE(manager.isActive());
/*
* Allocation
*/