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Empty server test

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This commit is contained in:
Pavel Kirienko
2015-04-21 21:00:06 +03:00
parent e6ff5818a3
commit b6659f096f
1 changed files with 45 additions and 8 deletions
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libuavcan/test/node/service_server.cpp
+45 -8
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@@ -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());
}