fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-18 08:17:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

DataTypeInfoProvider test update

Browse Source
This commit is contained in:
Pavel Kirienko
2015-07-05 10:05:45 +03:00
parent 054b60276d
commit b4ba088e08
1 changed files with 3 additions and 61 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/test/protocol/data_type_info_provider.cpp
+3 -61
View File
@@ -61,8 +61,6 @@ static bool validateDataTypeInfoResponse(const std::auto_ptr<ServiceCallResultCo
return true;
}
// TODO FIXME NEW IMPLEMENTATION
#if 0
TEST(DataTypeInfoProvider, Basic)
{
@@ -72,13 +70,11 @@ TEST(DataTypeInfoProvider, Basic)
GlobalDataTypeRegistry::instance().reset();
DefaultDataTypeRegistrator<GetDataTypeInfo> _reg1;
DefaultDataTypeRegistrator<ComputeAggregateTypeSignature> _reg2;
DefaultDataTypeRegistrator<NodeStatus> _reg3;
ASSERT_LE(0, dtip.start());
ServiceClientWithCollector<GetDataTypeInfo> gdti_cln(nodes.b);
ServiceClientWithCollector<ComputeAggregateTypeSignature> cats_cln(nodes.b);
/*
* GetDataTypeInfo request for GetDataTypeInfo
@@ -143,7 +139,7 @@ TEST(DataTypeInfoProvider, Basic)
* Requesting a non-existent type
*/
gdti_request = GetDataTypeInfo::Request();
gdti_request.id = ComputeAggregateTypeSignature::DefaultDataTypeID;
gdti_request.id = 20000;
gdti_request.kind.value = 3; // INVALID VALUE
ASSERT_LE(0, gdti_cln.call(1, gdti_request));
nodes.spinBoth(MonotonicDuration::fromMSec(10));
@@ -151,7 +147,7 @@ TEST(DataTypeInfoProvider, Basic)
ASSERT_TRUE(gdti_cln.collector.result.get());
ASSERT_TRUE(gdti_cln.collector.result->isSuccessful());
ASSERT_EQ(1, gdti_cln.collector.result->getCallID().server_node_id.get());
ASSERT_EQ(0, gdti_cln.collector.result->getResponse().mask);
ASSERT_EQ(0, gdti_cln.collector.result->getResponse().flags);
ASSERT_TRUE(gdti_cln.collector.result->getResponse().name.empty()); // Empty name
ASSERT_EQ(gdti_request.id, gdti_cln.collector.result->getResponse().id);
ASSERT_EQ(gdti_request.kind.value, gdti_cln.collector.result->getResponse().kind.value);
@@ -169,62 +165,8 @@ TEST(DataTypeInfoProvider, Basic)
ASSERT_TRUE(gdti_cln.collector.result.get());
ASSERT_TRUE(gdti_cln.collector.result->isSuccessful());
ASSERT_EQ(1, gdti_cln.collector.result->getCallID().server_node_id.get());
ASSERT_EQ(0, gdti_cln.collector.result->getResponse().mask);
ASSERT_EQ(0, gdti_cln.collector.result->getResponse().flags);
ASSERT_EQ("uavcan.equipment.gnss.Fix", gdti_cln.collector.result->getResponse().name);
ASSERT_EQ(0, gdti_cln.collector.result->getResponse().id);
ASSERT_EQ(0, gdti_cln.collector.result->getResponse().kind.value);
/*
* ComputeAggregateTypeSignature test for messages
*/
ComputeAggregateTypeSignature::Request cats_request;
cats_request.kind.value = DataTypeKind::MESSAGE;
cats_request.known_ids.resize(2000); // not 2048
cats_request.known_ids.set(); // Assuming we have all 2000 types
ASSERT_LE(0, cats_cln.call(1, cats_request));
nodes.spinBoth(MonotonicDuration::fromMSec(10));
ASSERT_TRUE(cats_cln.collector.result.get());
ASSERT_TRUE(cats_cln.collector.result->isSuccessful());
ASSERT_EQ(1, cats_cln.collector.result->getCallID().server_node_id.get());
ASSERT_EQ(NodeStatus::getDataTypeSignature().get(), cats_cln.collector.result->getResponse().aggregate_signature);
ASSERT_EQ(2048, cats_cln.collector.result->getResponse().mutually_known_ids.size());
ASSERT_TRUE(cats_cln.collector.result->getResponse().mutually_known_ids[NodeStatus::DefaultDataTypeID]);
cats_cln.collector.result->getResponse().mutually_known_ids[NodeStatus::DefaultDataTypeID] = false;
ASSERT_FALSE(cats_cln.collector.result->getResponse().mutually_known_ids.any());
/*
* ComputeAggregateTypeSignature test for services
*/
cats_request = ComputeAggregateTypeSignature::Request();
cats_request.kind.value = DataTypeKind::SERVICE;
cats_request.known_ids.resize(500); // not 512
cats_request.known_ids.set(); // Assuming we have all 500 types
ASSERT_LE(0, cats_cln.call(1, cats_request));
nodes.spinBoth(MonotonicDuration::fromMSec(10));
ASSERT_TRUE(cats_cln.collector.result.get());
ASSERT_TRUE(cats_cln.collector.result->isSuccessful());
ASSERT_EQ(1, cats_cln.collector.result->getCallID().server_node_id.get());
ASSERT_EQ(512, cats_cln.collector.result->getResponse().mutually_known_ids.size());
ASSERT_TRUE(cats_cln.collector.result->getResponse().mutually_known_ids[GetDataTypeInfo::DefaultDataTypeID]);
ASSERT_TRUE(cats_cln.collector.result->getResponse().mutually_known_ids[ComputeAggregateTypeSignature::DefaultDataTypeID]);
cats_cln.collector.result->getResponse().mutually_known_ids[GetDataTypeInfo::DefaultDataTypeID] = false;
cats_cln.collector.result->getResponse().mutually_known_ids[ComputeAggregateTypeSignature::DefaultDataTypeID] = false;
ASSERT_FALSE(cats_cln.collector.result->getResponse().mutually_known_ids.any());
/*
* ComputeAggregateTypeSignature test for a non-existent type
*/
cats_request.kind.value = 0xFF; // INVALID
cats_request.known_ids.set(); // Assuming we have all 2048 types
ASSERT_LE(0, cats_cln.call(1, cats_request));
nodes.spinBoth(MonotonicDuration::fromMSec(10));
ASSERT_TRUE(cats_cln.collector.result.get());
ASSERT_TRUE(cats_cln.collector.result->isSuccessful());
ASSERT_EQ(0, cats_cln.collector.result->getResponse().aggregate_signature);
ASSERT_FALSE(cats_cln.collector.result->getResponse().mutually_known_ids.any());
}
#endif