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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/transport/transfer_test_helpers.cpp
-90
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@@ -1,90 +0,0 @@
/*
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <gtest/gtest.h>
#include "transfer_test_helpers.hpp"
TEST(TransferTestHelpers, Transfer)
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
uavcan::PoolManager<1> poolmgr;
poolmgr.addPool(&pool);
uavcan::TransferBufferManager<128, 1> mgr(poolmgr);
uavcan::TransferBufferAccessor tba(mgr, uavcan::TransferBufferManagerKey(0, uavcan::TransferTypeMessageUnicast));
uavcan::RxFrame frame(uavcan::Frame(123, uavcan::TransferTypeMessageBroadcast, 1, 0, 0, 0, true), 0, 0, 0);
uavcan::MultiFrameIncomingTransfer mfit(10, 1000, frame, tba);
// Filling the buffer with data
static const std::string TEST_DATA = "Kaneda! What do you see? Kaneda! What do you see? Kaneda! Kaneda!!!";
ASSERT_TRUE(tba.create());
ASSERT_EQ(TEST_DATA.length(),
tba.access()->write(0, reinterpret_cast<const uint8_t*>(TEST_DATA.c_str()), TEST_DATA.length()));
// Reading back
const Transfer transfer(mfit, uavcan::DataTypeDescriptor());
ASSERT_EQ(TEST_DATA, transfer.payload);
}
TEST(TransferTestHelpers, MFTSerialization)
{
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "Foo");
static const std::string DATA = "To go wrong in one's own way is better than to go right in someone else's.";
const Transfer transfer(1, 100000, uavcan::TransferTypeMessageUnicast, 2, 42, 127, DATA, type);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer);
std::cout << "Serialized transfer:\n";
for (std::vector<uavcan::RxFrame>::const_iterator it = ser.begin(); it != ser.end(); ++it)
std::cout << "\t" << it->toString() << "\n";
for (std::vector<uavcan::RxFrame>::const_iterator it = ser.begin(); it != ser.end(); ++it)
{
std::cout << "\t'";
for (int i = 0; i < it->getPayloadLen(); i++)
{
uint8_t ch = it->getPayloadPtr()[i];
if (ch < 0x20 || ch > 0x7E)
ch = '.';
std::cout << static_cast<char>(ch);
}
std::cout << "'\n";
}
std::cout << std::flush;
}
TEST(TransferTestHelpers, SFTSerialization)
{
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "Foo");
{
const Transfer transfer(1, 100000, uavcan::TransferTypeMessageBroadcast, 7, 42, 0, "Nvrfrget", type);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
}
{
const Transfer transfer(1, 100000, uavcan::TransferTypeServiceRequest, 7, 42, 127, "7-chars", type);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
}
{
const Transfer transfer(1, 100000, uavcan::TransferTypeMessageBroadcast, 7, 42, 0, "", type);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
}
{
const Transfer transfer(1, 100000, uavcan::TransferTypeServiceResponse, 7, 42, 127, "", type);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
}
}