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Reorganized directory structure for tests and src

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Pavel Kirienko
2014-03-10 19:25:28 +04:00
parent 21fda96978
commit b86ea67563
43 changed files with 26 additions and 24 deletions
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libuavcan/test/node/scheduler.cpp
-96
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@@ -1,96 +0,0 @@
/*
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <gtest/gtest.h>
#include <uavcan/timer.hpp>
#include <uavcan/util/method_binder.hpp>
#include "../common.hpp"
#include "../transport/can/iface_mock.hpp"
struct TimerCallCounter
{
std::vector<uavcan::TimerEvent> events_a;
std::vector<uavcan::TimerEvent> events_b;
void callA(const uavcan::TimerEvent& ev) { events_a.push_back(ev); }
void callB(const uavcan::TimerEvent& ev) { events_b.push_back(ev); }
typedef uavcan::MethodBinder<TimerCallCounter*, void(TimerCallCounter::*)(const uavcan::TimerEvent&)> Binder;
};
/*
* This test can fail on a non real time system. That's kinda sad but okay.
*/
TEST(Scheduler, Timers)
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
uavcan::PoolManager<1> poolmgr;
poolmgr.addPool(&pool);
SystemClockDriver clock_driver;
CanDriverMock can_driver(2, clock_driver);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Scheduler sch(can_driver, poolmgr, clock_driver, out_trans_reg, uavcan::NodeID(1));
/*
* Registration
*/
{
TimerCallCounter tcc;
uavcan::TimerEventForwarder<TimerCallCounter::Binder>
a(sch, TimerCallCounter::Binder(&tcc, &TimerCallCounter::callA));
uavcan::TimerEventForwarder<TimerCallCounter::Binder>
b(sch, TimerCallCounter::Binder(&tcc, &TimerCallCounter::callB));
ASSERT_EQ(0, sch.getMonotonicDeadlineScheduler().getNumHandlers());
const uint64_t start_ts = clock_driver.getMonotonicMicroseconds();
a.startOneShotWithDeadline(start_ts + 100000);
b.startPeriodic(1000);
ASSERT_EQ(2, sch.getMonotonicDeadlineScheduler().getNumHandlers());
/*
* Spinning
*/
ASSERT_EQ(0, sch.spin(start_ts + 1000000));
ASSERT_EQ(1, tcc.events_a.size());
ASSERT_TRUE(areTimestampsClose(tcc.events_a[0].scheduled_monotonic_deadline, start_ts + 100000));
ASSERT_TRUE(areTimestampsClose(tcc.events_a[0].monotonic_timestamp,
tcc.events_a[0].scheduled_monotonic_deadline));
ASSERT_EQ(&a, tcc.events_a[0].timer);
ASSERT_LT(900, tcc.events_b.size());
ASSERT_GT(1100, tcc.events_b.size());
{
uint64_t next_expected_deadline = start_ts + 1000;
for (unsigned int i = 0; i < tcc.events_b.size(); i++)
{
ASSERT_TRUE(areTimestampsClose(tcc.events_b[i].scheduled_monotonic_deadline, next_expected_deadline));
ASSERT_TRUE(areTimestampsClose(tcc.events_b[i].monotonic_timestamp,
tcc.events_b[i].scheduled_monotonic_deadline));
ASSERT_EQ(&b, tcc.events_b[i].timer);
next_expected_deadline += 1000;
}
}
/*
* Deinitialization
*/
ASSERT_EQ(1, sch.getMonotonicDeadlineScheduler().getNumHandlers());
ASSERT_FALSE(a.isRunning());
ASSERT_EQ(uavcan::Timer::InfinitePeriod, a.getPeriod());
ASSERT_TRUE(b.isRunning());
ASSERT_EQ(1000, b.getPeriod());
}
ASSERT_EQ(0, sch.getMonotonicDeadlineScheduler().getNumHandlers()); // Both timers were destroyed now
ASSERT_EQ(0, sch.spin(clock_driver.getMonotonicMicroseconds() + 1000)); // Spin some more without timers
}