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Reorganized directory structure for tests and src

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This commit is contained in:
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/transport/incoming_transfer.cpp
-107
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@@ -1,107 +0,0 @@
/*
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <algorithm>
#include <gtest/gtest.h>
#include <uavcan/internal/transport/transfer_listener.hpp>
static uavcan::RxFrame makeFrame()
{
uavcan::RxFrame frame(
uavcan::Frame(123, uavcan::TransferTypeMessageBroadcast, 1, uavcan::NodeID::Broadcast, 0, 1, true),
123, 456, 0);
uint8_t data[8];
for (unsigned int i = 0; i < sizeof(data); i++)
data[i] = i;
frame.setPayload(data, sizeof(data));
return frame;
}
static bool match(const uavcan::IncomingTransfer& it, const uavcan::RxFrame& frame,
const uint8_t* payload, unsigned int payload_len)
{
// Fields extracted from the frame struct
EXPECT_EQ(it.getMonotonicTimestamp(), frame.getMonotonicTimestamp());
EXPECT_EQ(it.getUtcTimestamp(), frame.getUtcTimestamp());
EXPECT_EQ(it.getSrcNodeID(), frame.getSrcNodeID());
EXPECT_EQ(it.getTransferID(), frame.getTransferID());
EXPECT_EQ(it.getTransferType(), frame.getTransferType());
// Payload comparison
static const unsigned int BUFLEN = 1024;
uint8_t buf_reference[BUFLEN], buf_actual[BUFLEN];
if (payload_len > BUFLEN)
{
std::cout << "match(): Payload is too long" << std::endl;
exit(1);
}
std::fill(buf_reference, buf_reference + BUFLEN, 0);
std::fill(buf_actual, buf_actual + BUFLEN, 0);
std::copy(payload, payload + payload_len, buf_reference);
EXPECT_EQ(payload_len, it.read(0, buf_actual, payload_len * 3));
EXPECT_EQ(0, it.read(payload_len, buf_actual, payload_len * 3));
return std::equal(buf_reference, buf_reference + BUFLEN, buf_actual);
}
TEST(SingleFrameIncomingTransfer, Basic)
{
using uavcan::RxFrame;
using uavcan::SingleFrameIncomingTransfer;
const RxFrame frame = makeFrame();
SingleFrameIncomingTransfer it(frame);
ASSERT_TRUE(match(it, frame, frame.getPayloadPtr(), frame.getPayloadLen()));
}
TEST(MultiFrameIncomingTransfer, Basic)
{
using uavcan::RxFrame;
using uavcan::MultiFrameIncomingTransfer;
uavcan::PoolManager<1> poolmgr; // We don't need dynamic memory
uavcan::TransferBufferManager<256, 1> bufmgr(poolmgr);
const RxFrame frame = makeFrame();
uavcan::TransferBufferManagerKey bufmgr_key(frame.getSrcNodeID(), frame.getTransferType());
uavcan::TransferBufferAccessor tba(bufmgr, bufmgr_key);
MultiFrameIncomingTransfer it(frame.getMonotonicTimestamp(), frame.getUtcTimestamp(), frame, tba);
/*
* Empty read must fail
*/
uint8_t data_byte = 0;
ASSERT_GT(0, it.read(0, &data_byte, 1)); // Error - no such buffer
/*
* Filling the test data
*/
const std::string data = "123Hello world";
const uint8_t* const data_ptr = reinterpret_cast<const uint8_t*>(data.c_str());
ASSERT_FALSE(bufmgr.access(bufmgr_key));
ASSERT_TRUE(bufmgr.create(bufmgr_key));
ASSERT_EQ(data.length(), bufmgr.access(bufmgr_key)->write(0, data_ptr, data.length()));
/*
* Check
*/
ASSERT_TRUE(match(it, frame, data_ptr, data.length()));
/*
* Buffer release
*/
ASSERT_TRUE(bufmgr.access(bufmgr_key));
it.release();
ASSERT_FALSE(bufmgr.access(bufmgr_key));
}