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TransferSender is now capable of broadcasting in passive mode; Frame::isValid() was modified to accept SFT broadcasts with zero SNID

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This commit is contained in:
Pavel Kirienko
2015-04-05 11:51:58 +03:00
parent 38c6a0d7ac
commit b4d93df450
7 changed files with 67 additions and 8 deletions
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libuavcan/test/transport/frame.cpp
+12 -1
View File
@@ -162,7 +162,18 @@ TEST(Frame, FrameParsing)
can.id = CanFrame::FlagEFF | // cppcheck-suppress duplicateExpression
(2 << 0) | (1 << 3) | (0 << 4) | (0 << 10) | (uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
ASSERT_FALSE(frame.parse(can)); // Broadcast Src Node ID
ASSERT_FALSE(frame.parse(can)); // Broadcast Src Node ID with unicast transfer
can.id = CanFrame::FlagEFF | // cppcheck-suppress duplicateExpression
(2 << 0) | (0 << 3) | (0 << 4) | (0 << 10) | (uavcan::TransferTypeMessageBroadcast << 17) | (456 << 19);
ASSERT_FALSE(frame.parse(can)); // Broadcast Src Node ID with multiframe broadcast transfer
/*
* Broadcast SNID exceptions
*/
can.id = CanFrame::FlagEFF | // cppcheck-suppress duplicateExpression
(2 << 0) | (1 << 3) | (0 << 4) | (0 << 10) | (uavcan::TransferTypeMessageBroadcast << 17) | (456 << 19);
ASSERT_TRUE(frame.parse(can)); // Broadcast Src Node ID with single frame broadcast transfer
}
libuavcan/test/transport/transfer_sender.cpp
+14 -1
View File
@@ -235,11 +235,24 @@ TEST(TransferSender, PassiveMode)
static const uint8_t Payload[] = {1, 2, 3, 4, 5};
// By default, sending in passive mode is not enabled
ASSERT_EQ(-uavcan::ErrPassiveMode,
sender.send(Payload, sizeof(Payload), tsMono(1000), uavcan::MonotonicTime(),
uavcan::TransferTypeMessageBroadcast, uavcan::NodeID::Broadcast));
// Overriding the default
sender.allowBroadcastingInPassiveMode();
// OK, now we can broadcast in any mode
ASSERT_LE(0, sender.send(Payload, sizeof(Payload), tsMono(1000), uavcan::MonotonicTime(),
uavcan::TransferTypeMessageBroadcast, uavcan::NodeID::Broadcast));
// ...but not unicast or anything else
ASSERT_EQ(-uavcan::ErrPassiveMode,
sender.send(Payload, sizeof(Payload), tsMono(1000), uavcan::MonotonicTime(),
uavcan::TransferTypeMessageUnicast, uavcan::NodeID(42)));
EXPECT_EQ(0, dispatcher.getTransferPerfCounter().getErrorCount());
EXPECT_EQ(0, dispatcher.getTransferPerfCounter().getTxTransferCount());
EXPECT_EQ(1, dispatcher.getTransferPerfCounter().getTxTransferCount());
EXPECT_EQ(0, dispatcher.getTransferPerfCounter().getRxTransferCount());
}