RestartRequestServer

2026-10-15 17:23:33 +08:00 · 2014-03-19 10:45:20 +04:00
parent 1bc411f3af
commit b353c5b9d8
3 changed files with 164 additions and 0 deletions
@@ -0,0 +1,82 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/protocol/restart_request_server.hpp>
+#include "helpers.hpp"
+
+
+struct Handler : public uavcan::IRestartRequestHandler
+{
+    bool accept;
+
+    bool handleRestartRequest(uavcan::NodeID request_source)
+    {
+        std::cout << "Restart request from " << int(request_source.get()) << " will be "
+            << (accept ? "accepted" : "rejected") << std::endl;
+        return accept;
+    }
+};
+
+
+TEST(RestartRequestServer, Basic)
+{
+    InterlinkedTestNodes nodes;
+
+    uavcan::RestartRequestServer rrs(nodes.a);
+
+    ServiceClientWithCollector<uavcan::protocol::RestartNode> rrs_cln(nodes.b);
+
+    uavcan::GlobalDataTypeRegistry::instance().reset();
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::RestartNode> _reg1;
+
+    ASSERT_LE(0, rrs.start());
+
+    uavcan::protocol::RestartNode::Request request;
+    request.magic_number = uavcan::protocol::RestartNode::Request::MAGIC_NUMBER;
+
+    /*
+     * Rejected - handler was not set
+     */
+    ASSERT_LE(0, rrs_cln.call(1, request));
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2));
+
+    ASSERT_TRUE(rrs_cln.collector.result->isSuccessful());
+    ASSERT_FALSE(rrs_cln.collector.result->response.ok);
+
+    /*
+     * Accepted
+     */
+    Handler handler;
+    handler.accept = true;
+    rrs.setHandler(&handler);
+
+    ASSERT_LE(0, rrs_cln.call(1, request));
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2));
+
+    ASSERT_TRUE(rrs_cln.collector.result->isSuccessful());
+    ASSERT_TRUE(rrs_cln.collector.result->response.ok);
+
+    /*
+     * Rejected by handler
+     */
+    handler.accept = false;
+
+    ASSERT_LE(0, rrs_cln.call(1, request));
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2));
+
+    ASSERT_TRUE(rrs_cln.collector.result->isSuccessful());
+    ASSERT_FALSE(rrs_cln.collector.result->response.ok);
+
+    /*
+     * Rejected because of invalid magic number
+     */
+    handler.accept = true;
+
+    ASSERT_LE(0, rrs_cln.call(1, uavcan::protocol::RestartNode::Request()));
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2));
+
+    ASSERT_TRUE(rrs_cln.collector.result->isSuccessful());
+    ASSERT_FALSE(rrs_cln.collector.result->response.ok);
+}