From b6659f096f5dacadc8116f994fef206e11c3f8d5 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Tue, 21 Apr 2015 21:00:06 +0300
Subject: [PATCH] Empty server test

---
 libuavcan/test/node/service_server.cpp | 53 ++++++++++++++++++++++----
 1 file changed, 45 insertions(+), 8 deletions(-)

diff --git a/libuavcan/test/node/service_server.cpp b/libuavcan/test/node/service_server.cpp
index 00b324abd6..4137bb1203 100644
--- a/libuavcan/test/node/service_server.cpp
+++ b/libuavcan/test/node/service_server.cpp
@@ -6,16 +6,17 @@
 #include <uavcan/node/service_server.hpp>
 #include <uavcan/util/method_binder.hpp>
 #include <root_ns_a/StringService.hpp>
+#include <root_ns_a/EmptyService.hpp>
 #include "../clock.hpp"
 #include "../transport/can/can.hpp"
 #include "test_node.hpp"
 
 
-struct ServerImpl
+struct StringServerImpl
 {
     const char* string_response;
 
-    ServerImpl(const char* string_response) : string_response(string_response) { }
+    StringServerImpl(const char* string_response) : string_response(string_response) { }
 
     void handleRequest(const uavcan::ReceivedDataStructure<root_ns_a::StringService::Request>& request,
                        root_ns_a::StringService::Response& response)
@@ -27,11 +28,27 @@ struct ServerImpl
         std::cout << response << std::endl;
     }
 
-    typedef uavcan::MethodBinder<ServerImpl*,
-        void (ServerImpl::*)(const uavcan::ReceivedDataStructure<root_ns_a::StringService::Request>&,
-                             root_ns_a::StringService::Response&)> Binder;
+    typedef uavcan::MethodBinder<StringServerImpl*,
+        void (StringServerImpl::*)(const uavcan::ReceivedDataStructure<root_ns_a::StringService::Request>&,
+                                   root_ns_a::StringService::Response&)> Binder;
 
-    Binder bind() { return Binder(this, &ServerImpl::handleRequest); }
+    Binder bind() { return Binder(this, &StringServerImpl::handleRequest); }
+};
+
+
+struct EmptyServerImpl
+{
+    void handleRequest(const uavcan::ReceivedDataStructure<root_ns_a::EmptyService::Request>& request,
+                       root_ns_a::EmptyService::Response&)
+    {
+        std::cout << request << std::endl;
+    }
+
+    typedef uavcan::MethodBinder<EmptyServerImpl*,
+        void (EmptyServerImpl::*)(const uavcan::ReceivedDataStructure<root_ns_a::EmptyService::Request>&,
+                                   root_ns_a::EmptyService::Response&)> Binder;
+
+    Binder bind() { return Binder(this, &EmptyServerImpl::handleRequest); }
 };
 
 
@@ -45,10 +62,10 @@ TEST(ServiceServer, Basic)
     CanDriverMock can_driver(1, clock_driver);
     TestNode node(can_driver, clock_driver, 1);
 
-    ServerImpl impl("456");
+    StringServerImpl impl("456");
 
     {
-        uavcan::ServiceServer<root_ns_a::StringService, ServerImpl::Binder> server(node);
+        uavcan::ServiceServer<root_ns_a::StringService, StringServerImpl::Binder> server(node);
 
         ASSERT_EQ(0, node.getDispatcher().getNumServiceRequestListeners());
         server.start(impl.bind());
@@ -111,3 +128,23 @@ TEST(ServiceServer, Basic)
     }
     ASSERT_EQ(0, node.getDispatcher().getNumServiceRequestListeners());
 }
+
+
+TEST(ServiceServer, Empty)
+{
+    // Manual type registration - we can't rely on the GDTR state
+    uavcan::GlobalDataTypeRegistry::instance().reset();
+    uavcan::DefaultDataTypeRegistrator<root_ns_a::EmptyService> _registrator;
+
+    SystemClockDriver clock_driver;
+    CanDriverMock can_driver(1, clock_driver);
+    TestNode node(can_driver, clock_driver, 1);
+
+    EmptyServerImpl impl;
+
+    uavcan::ServiceServer<root_ns_a::EmptyService, EmptyServerImpl::Binder> server(node);
+
+    ASSERT_EQ(0, node.getDispatcher().getNumServiceRequestListeners());
+    ASSERT_GE(0, server.start(impl.bind()));
+    ASSERT_EQ(1, node.getDispatcher().getNumServiceRequestListeners());
+}