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Added Dispatcher type usage methods: hasPublisher(), hasSubscriber(), hasServer()

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This commit is contained in:
Pavel Kirienko
2014-03-18 15:33:31 +04:00
parent c9b284a2d7
commit aeee4b9e37
3 changed files with 62 additions and 1 deletions
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libuavcan/test/transport/dispatcher.cpp
+29 -1
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@@ -108,8 +108,15 @@ TEST(Dispatcher, Reception)
};
/*
* Sending the transfers
* Registration
*/
for (int i = 0; i < NUM_SUBSCRIBERS; i++)
{
ASSERT_FALSE(dispatcher.hasSubscriber(subscribers[i]->getDataTypeDescriptor().getID()));
ASSERT_FALSE(dispatcher.hasPublisher(subscribers[i]->getDataTypeDescriptor().getID()));
ASSERT_FALSE(dispatcher.hasServer(subscribers[i]->getDataTypeDescriptor().getID()));
}
ASSERT_TRUE(dispatcher.registerMessageListener(subscribers[0].get()));
ASSERT_TRUE(dispatcher.registerMessageListener(subscribers[1].get()));
ASSERT_TRUE(dispatcher.registerMessageListener(subscribers[2].get()));
@@ -117,6 +124,20 @@ TEST(Dispatcher, Reception)
ASSERT_TRUE(dispatcher.registerServiceResponseListener(subscribers[4].get()));
ASSERT_TRUE(dispatcher.registerServiceResponseListener(subscribers[5].get()));
for (int i = 0; i < NUM_SUBSCRIBERS; i++)
ASSERT_FALSE(dispatcher.hasPublisher(subscribers[i]->getDataTypeDescriptor().getID()));
// Subscribers
ASSERT_TRUE(dispatcher.hasSubscriber(subscribers[0]->getDataTypeDescriptor().getID()));
ASSERT_TRUE(dispatcher.hasSubscriber(subscribers[1]->getDataTypeDescriptor().getID()));
ASSERT_TRUE(dispatcher.hasSubscriber(subscribers[2]->getDataTypeDescriptor().getID()));
// Servers
ASSERT_TRUE(dispatcher.hasServer(subscribers[3]->getDataTypeDescriptor().getID()));
/*
* Sending the transfers
*/
// Multiple service request listeners are not allowed
ASSERT_FALSE(dispatcher.registerServiceRequestListener(subscribers[3].get()));
@@ -209,6 +230,13 @@ TEST(Dispatcher, Transmission)
uavcan::Frame frame(123, uavcan::TransferTypeMessageUnicast, SELF_NODE_ID, 2, 0, 0, true);
frame.setPayload(reinterpret_cast<const uint8_t*>("123"), 3);
ASSERT_FALSE(dispatcher.hasPublisher(123));
ASSERT_FALSE(dispatcher.hasPublisher(456));
const uavcan::OutgoingTransferRegistryKey otr_key(123, uavcan::TransferTypeMessageUnicast, 2);
ASSERT_TRUE(out_trans_reg.accessOrCreate(otr_key, uavcan::MonotonicTime::fromMSec(1000000)));
ASSERT_TRUE(dispatcher.hasPublisher(123));
ASSERT_FALSE(dispatcher.hasPublisher(456));
ASSERT_EQ(2, dispatcher.send(frame, TX_DEADLINE, tsMono(0), uavcan::CanTxQueue::Volatile));
/*