Very basic stuff: CAN driver iface, linked list, system clock interface, tests

2026-10-24 06:43:33 +08:00 · 2014-01-25 20:06:43 +04:00
parent 0d2f1da2a2
commit b685173185
6 changed files with 439 additions and 0 deletions
@@ -0,0 +1,105 @@
+/*
+ * Copyright (C) 2013 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/linked_list.hpp>
+
+struct ListItem : uavcan::LinkedListNode<ListItem>
+{
+    int value;
+    ListItem() : value(0) { }
+};
+
+TEST(LinkedList, Basic)
+{
+    uavcan::LinkedListRoot<ListItem> root;
+
+    /*
+     * Insert/remove
+     */
+    EXPECT_EQ(0, root.length());
+
+    ListItem item1;
+    root.insert(&item1);
+    root.insert(&item1);         // Insert twice - second will be ignored
+    EXPECT_EQ(1, root.length());
+
+    EXPECT_TRUE(root.remove(&item1));
+    EXPECT_FALSE(root.remove(&item1));
+    EXPECT_EQ(0, root.length());
+
+    ListItem items[3];
+    root.insert(&item1);
+    root.insert(items + 0);
+    root.insert(items + 1);
+    root.insert(items + 2);
+    EXPECT_EQ(4, root.length());
+
+    /*
+     * Order persistence
+     */
+    items[0].value = 10;
+    items[1].value = 11;
+    items[2].value = 12;
+    const int expected_values[] = {12, 11, 10, 0};
+    ListItem* node = root.get();
+    for (int i = 0; i < 4; i++)
+    {
+        EXPECT_EQ(expected_values[i], node->value);
+        node = node->getNextListNode();
+    }
+
+    EXPECT_TRUE(root.remove(items + 0));
+    EXPECT_TRUE(root.remove(items + 2));
+    EXPECT_FALSE(root.remove(items + 2));
+    EXPECT_EQ(2, root.length());
+
+    const int expected_values2[] = {11, 0};
+    node = root.get();
+    for (int i = 0; i < 2; i++)
+    {
+        EXPECT_EQ(expected_values2[i], node->value);
+        node = node->getNextListNode();
+    }
+
+    root.insert(items + 2);
+    EXPECT_EQ(3, root.length());
+    EXPECT_EQ(12, root.get()->value);
+
+    /*
+     * Emptying
+     */
+    EXPECT_TRUE(root.remove(&item1));
+    EXPECT_FALSE(root.remove(items + 0));
+    EXPECT_TRUE(root.remove(items + 1));
+    EXPECT_TRUE(root.remove(items + 2));
+    EXPECT_EQ(0, root.length());
+}
+
+struct Summator
+{
+    long sum;
+    Summator() : sum(0) { }
+    void operator()(const ListItem* item)
+    {
+        sum += item->value;
+    }
+};
+
+TEST(LinkedList, Predicate)
+{
+    uavcan::LinkedListRoot<ListItem> root;
+    ListItem items[5];
+    for (int i = 0 ; i < 5; i++)
+    {
+        EXPECT_FALSE(root.remove(items + i));  // Just to make sure that there's no such item
+        root.insert(items + i);
+        items[i].value = i;
+    }
+    EXPECT_EQ(5, root.length());
+
+    Summator sum;
+    root.map(sum);
+    EXPECT_EQ(10, sum.sum);
+}