diff --git a/libuavcan/test/protocol/data_type_info_provider.cpp b/libuavcan/test/protocol/data_type_info_provider.cpp index 1728754e75..85141de7cf 100644 --- a/libuavcan/test/protocol/data_type_info_provider.cpp +++ b/libuavcan/test/protocol/data_type_info_provider.cpp @@ -61,8 +61,6 @@ static bool validateDataTypeInfoResponse(const std::auto_ptr _reg1; - DefaultDataTypeRegistrator _reg2; DefaultDataTypeRegistrator _reg3; ASSERT_LE(0, dtip.start()); ServiceClientWithCollector gdti_cln(nodes.b); - ServiceClientWithCollector 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