mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 05:43:34 +08:00
Passing all tests now
This commit is contained in:
Pavel Kirienko
@@ -114,8 +114,8 @@ bool Frame::parse(const CanFrame& can_frame)
|
||||
* CAN ID parsing
|
||||
*/
|
||||
const uint32_t id = can_frame.id & CanFrame::MaskExtID;
|
||||
transfer_id_ = uint8_t(bitunpack<0, 3>(id));
|
||||
last_frame_ = bitunpack<3, 1>(id) != 0;
|
||||
transfer_id_ = uint8_t(bitunpack<0, 3>(id));
|
||||
last_frame_ = bitunpack<3, 1>(id) != 0;
|
||||
// TT-specific fields skipped
|
||||
transfer_priority_ = TransferPriority(bitunpack<27, 2>(id));
|
||||
|
||||
@@ -283,7 +283,7 @@ bool Frame::compile(CanFrame& out_can_frame) const
|
||||
{
|
||||
sum = static_cast<uint8_t>(sum + payload_[i]);
|
||||
}
|
||||
out_can_frame.id &= ~bitpack<0, 8>(sum); // Setting the checksum
|
||||
out_can_frame.id |= bitpack<0, 8>(sum); // Setting the checksum
|
||||
}
|
||||
|
||||
return true;
|
||||
@@ -296,11 +296,13 @@ bool Frame::isValid() const
|
||||
*/
|
||||
if (frame_index_ > getMaxIndex())
|
||||
{
|
||||
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
|
||||
return false;
|
||||
}
|
||||
|
||||
if ((frame_index_ == getMaxIndex()) && !last_frame_)
|
||||
{
|
||||
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -310,12 +312,14 @@ bool Frame::isValid() const
|
||||
if (!src_node_id_.isValid() ||
|
||||
!dst_node_id_.isValid())
|
||||
{
|
||||
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
|
||||
return false;
|
||||
}
|
||||
|
||||
if (src_node_id_.isUnicast() &&
|
||||
(src_node_id_ == dst_node_id_))
|
||||
{
|
||||
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -324,11 +328,13 @@ bool Frame::isValid() const
|
||||
*/
|
||||
if (transfer_type_ >= NumTransferTypes)
|
||||
{
|
||||
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
|
||||
return false;
|
||||
}
|
||||
|
||||
if ((transfer_type_ == TransferTypeMessageBroadcast) != dst_node_id_.isBroadcast())
|
||||
{
|
||||
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -344,6 +350,7 @@ bool Frame::isValid() const
|
||||
*/
|
||||
if (static_cast<int>(payload_len_) > getMaxPayloadLen())
|
||||
{
|
||||
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -352,6 +359,7 @@ bool Frame::isValid() const
|
||||
*/
|
||||
if (!data_type_id_.isValidForDataTypeKind(getDataTypeKindForTransferType(transfer_type_)))
|
||||
{
|
||||
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -360,6 +368,7 @@ bool Frame::isValid() const
|
||||
*/
|
||||
if (transfer_priority_ >= NumTransferPriorities)
|
||||
{
|
||||
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -368,6 +377,7 @@ bool Frame::isValid() const
|
||||
{
|
||||
if (transfer_priority_ != TransferPriorityService)
|
||||
{
|
||||
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -177,7 +177,8 @@ TEST(DataTypeInfoProvider, Basic)
|
||||
*/
|
||||
ComputeAggregateTypeSignature::Request cats_request;
|
||||
cats_request.kind.value = DataTypeKind::MESSAGE;
|
||||
cats_request.known_ids.set(); // Assuming we have all 1023 types
|
||||
cats_request.known_ids.resize(2048);
|
||||
cats_request.known_ids.set(); // Assuming we have all 2048 types
|
||||
ASSERT_LE(0, cats_cln.call(1, cats_request));
|
||||
nodes.spinBoth(MonotonicDuration::fromMSec(10));
|
||||
|
||||
@@ -193,7 +194,7 @@ TEST(DataTypeInfoProvider, Basic)
|
||||
* ComputeAggregateTypeSignature test for a non-existent type
|
||||
*/
|
||||
cats_request.kind.value = 0xFF; // INVALID
|
||||
cats_request.known_ids.set(); // Assuming we have all 1023 types
|
||||
cats_request.known_ids.set(); // Assuming we have all 2048 types
|
||||
ASSERT_LE(0, cats_cln.call(1, cats_request));
|
||||
nodes.spinBoth(MonotonicDuration::fromMSec(10));
|
||||
|
||||
|
||||
@@ -78,34 +78,37 @@ TEST(Dispatcher, Reception)
|
||||
|
||||
static const std::string DATA[6] =
|
||||
{
|
||||
"Yes, man is mortal, but that would be only half the trouble. "
|
||||
"The worst of it is that he's sometimes unexpectedly mortal - there's the trick!",
|
||||
"Yes, man is mortal, but that would be only half the trouble. ",
|
||||
|
||||
"In fact, I'm beginning to fear that this confusion will go on for a long time. "
|
||||
"And all because he writes down what I said incorrectly.",
|
||||
"In fact, I'm beginning to fear that this confusion will go on for a long time. ",
|
||||
|
||||
"I had the pleasure of meeting that young man at the Patriarch's Ponds. "
|
||||
"He almost drove me mad myself, proving to me that I don't exist.",
|
||||
"I had the pleasure of meeting that young man at the Patriarch's Ponds. ",
|
||||
|
||||
"He was a dreamer, a thinker, a speculative philosopher... or, as his wife would have it, an idiot.",
|
||||
|
||||
// This one is too long to use in message transfers
|
||||
"The only way to get ideas for stories is to drink way too much coffee and buy a desk that doesn't "
|
||||
"collapse when you beat your head against it",
|
||||
|
||||
""
|
||||
};
|
||||
|
||||
for (unsigned i = 0; i < sizeof(DATA) / sizeof(DATA[0]); i++)
|
||||
{
|
||||
std::cout << "Size of test data chunk " << i << ": " << DATA[i].length() << std::endl;
|
||||
}
|
||||
|
||||
const Transfer transfers[9] =
|
||||
{
|
||||
emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 10, DATA[0], TYPES[0]),
|
||||
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 11, DATA[1], TYPES[1]),
|
||||
emulator.makeTransfer(uavcan::TransferTypeServiceRequest, 12, DATA[2], TYPES[2]),
|
||||
emulator.makeTransfer(uavcan::TransferTypeServiceResponse, 13, DATA[3], TYPES[3]),
|
||||
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 14, DATA[4], TYPES[0]),
|
||||
emulator.makeTransfer(uavcan::TransferTypeServiceResponse, 13, DATA[4], TYPES[3]),
|
||||
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 14, DATA[3], TYPES[0]),
|
||||
emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 15, DATA[5], TYPES[1]),
|
||||
// Wrongly addressed:
|
||||
emulator.makeTransfer(uavcan::TransferTypeServiceResponse, 10, DATA[0], TYPES[3], 100),
|
||||
emulator.makeTransfer(uavcan::TransferTypeServiceRequest, 11, DATA[1], TYPES[2], 101),
|
||||
emulator.makeTransfer(uavcan::TransferTypeServiceRequest, 11, DATA[4], TYPES[2], 101),
|
||||
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 12, DATA[2], TYPES[1], 102)
|
||||
};
|
||||
|
||||
|
||||
@@ -9,7 +9,7 @@
|
||||
#include "can/can.hpp"
|
||||
|
||||
|
||||
TEST(Frame, FrameParseCompile)
|
||||
TEST(Frame, MessageParseCompile)
|
||||
{
|
||||
using uavcan::Frame;
|
||||
using uavcan::CanFrame;
|
||||
@@ -18,13 +18,23 @@ TEST(Frame, FrameParseCompile)
|
||||
|
||||
Frame frame;
|
||||
|
||||
/*
|
||||
* Priority (LOW, NORMAL, HIGH)
|
||||
* Message Type ID
|
||||
* Source Node ID
|
||||
* BroadcastNotUnicast
|
||||
* Frame Index
|
||||
* Last Frame
|
||||
* Transfer ID
|
||||
*/
|
||||
const uint32_t can_id =
|
||||
(2 << 0) | // Transfer ID
|
||||
(1 << 3) | // Last Frame
|
||||
(29 << 4) | // Frame Index
|
||||
(42 << 10) | // Source Node ID
|
||||
(uavcan::TransferTypeMessageBroadcast << 17) |
|
||||
(456 << 19); // Data Type ID
|
||||
(1 << 27) | // Priority
|
||||
(2000 << 16) | // Message Type ID
|
||||
(42 << 9) | // Source Node ID
|
||||
(1 << 8) | // BroadcastNotUnicast
|
||||
(11 << 4) | // Frame Index
|
||||
(1 << 3) | // Last Frame
|
||||
(2 << 0); // Transfer ID
|
||||
|
||||
const std::string payload_string = "hello";
|
||||
|
||||
@@ -40,15 +50,19 @@ TEST(Frame, FrameParseCompile)
|
||||
|
||||
EXPECT_EQ(TransferID(2), frame.getTransferID());
|
||||
EXPECT_TRUE(frame.isLast());
|
||||
EXPECT_EQ(29, frame.getIndex());
|
||||
EXPECT_EQ(11, frame.getIndex());
|
||||
EXPECT_EQ(uavcan::NodeID(42), frame.getSrcNodeID());
|
||||
EXPECT_TRUE(frame.getDstNodeID().isBroadcast());
|
||||
EXPECT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
|
||||
EXPECT_EQ(456, frame.getDataTypeID().get());
|
||||
EXPECT_EQ(2000, frame.getDataTypeID().get());
|
||||
EXPECT_EQ(uavcan::TransferPriorityNormal, frame.getPriority());
|
||||
|
||||
EXPECT_EQ(payload_string.length(), frame.getPayloadLen());
|
||||
EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
|
||||
payload_string.begin()));
|
||||
|
||||
std::cout << frame.toString() << std::endl;
|
||||
|
||||
/*
|
||||
* Compile
|
||||
*/
|
||||
@@ -72,6 +86,159 @@ TEST(Frame, FrameParseCompile)
|
||||
}
|
||||
|
||||
|
||||
TEST(Frame, ServiceParseCompile)
|
||||
{
|
||||
using uavcan::Frame;
|
||||
using uavcan::CanFrame;
|
||||
using uavcan::TransferID;
|
||||
using uavcan::TransferType;
|
||||
|
||||
Frame frame;
|
||||
|
||||
/*
|
||||
* Priority = SERVICE
|
||||
* RequestNotResponse
|
||||
* Service Type ID
|
||||
* Source Node ID
|
||||
* Frame Index
|
||||
* Last Frame
|
||||
* Transfer ID
|
||||
*/
|
||||
const uint32_t can_id =
|
||||
(2 << 27) | // Priority (Service)
|
||||
(1 << 26) | // RequestNotResponse
|
||||
(500 << 17) | // Service Type ID
|
||||
(42 << 10) | // Source Node ID
|
||||
(60 << 4) | // Frame Index
|
||||
(1 << 3) | // Last Frame
|
||||
(5 << 0); // Transfer ID
|
||||
|
||||
const std::string payload_string = "\x42hello"; // dst = 0x42
|
||||
|
||||
/*
|
||||
* Parse
|
||||
*/
|
||||
// Invalid CAN frames
|
||||
ASSERT_FALSE(frame.parse(CanFrame(can_id | CanFrame::FlagRTR, (const uint8_t*)"", 0)));
|
||||
ASSERT_FALSE(frame.parse(makeCanFrame(can_id, payload_string, STD)));
|
||||
|
||||
// Valid
|
||||
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
|
||||
|
||||
EXPECT_EQ(TransferID(5), frame.getTransferID());
|
||||
EXPECT_TRUE(frame.isLast());
|
||||
EXPECT_EQ(60, frame.getIndex());
|
||||
EXPECT_EQ(uavcan::NodeID(42), frame.getSrcNodeID());
|
||||
EXPECT_EQ(uavcan::NodeID(0x42), frame.getDstNodeID());
|
||||
EXPECT_EQ(uavcan::TransferTypeServiceRequest, frame.getTransferType());
|
||||
EXPECT_EQ(500, frame.getDataTypeID().get());
|
||||
EXPECT_EQ(uavcan::TransferPriorityService, frame.getPriority());
|
||||
|
||||
EXPECT_EQ(payload_string.length(), frame.getPayloadLen() + 1);
|
||||
EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
|
||||
payload_string.begin() + 1));
|
||||
|
||||
std::cout << frame.toString() << std::endl;
|
||||
|
||||
/*
|
||||
* Compile
|
||||
*/
|
||||
CanFrame can_frame;
|
||||
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
|
||||
|
||||
ASSERT_TRUE(frame.compile(can_frame));
|
||||
ASSERT_EQ(can_frame, makeCanFrame(can_id, payload_string, EXT));
|
||||
|
||||
EXPECT_EQ(payload_string.length(), can_frame.dlc);
|
||||
EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc, payload_string.begin()));
|
||||
|
||||
/*
|
||||
* Comparison
|
||||
*/
|
||||
ASSERT_FALSE(Frame() == frame);
|
||||
ASSERT_TRUE(Frame() != frame);
|
||||
frame = Frame();
|
||||
ASSERT_TRUE(Frame() == frame);
|
||||
ASSERT_FALSE(Frame() != frame);
|
||||
}
|
||||
|
||||
|
||||
TEST(Frame, AnonymousParseCompile)
|
||||
{
|
||||
using uavcan::Frame;
|
||||
using uavcan::CanFrame;
|
||||
using uavcan::TransferID;
|
||||
using uavcan::TransferType;
|
||||
|
||||
Frame frame;
|
||||
|
||||
/*
|
||||
* Priority (LOW, NORMAL, HIGH)
|
||||
* Message Type ID
|
||||
* Source Node ID
|
||||
* BroadcastNotUnicast
|
||||
* Frame Index
|
||||
* Last Frame
|
||||
* Transfer ID
|
||||
*/
|
||||
const uint32_t can_id =
|
||||
(0 << 27) | // Priority (high)
|
||||
(2000 << 16) | // Message Type ID
|
||||
(0 << 9) | // Source Node ID
|
||||
(1 << 8) | // BroadcastNotUnicast
|
||||
(11 << 4) | // Frame Index (will be ignored)
|
||||
(1 << 3) | // Last Frame (will be ignored)
|
||||
(2 << 0); // Transfer ID (will be ignored)
|
||||
|
||||
const std::string payload_string = "\x01\x02\x03\x04";
|
||||
const uint8_t payload_sum = 1 + 2 + 3 + 4;
|
||||
|
||||
/*
|
||||
* Parse
|
||||
*/
|
||||
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
|
||||
|
||||
EXPECT_EQ(TransferID(0), frame.getTransferID());
|
||||
EXPECT_TRUE(frame.isLast());
|
||||
EXPECT_EQ(0, frame.getIndex());
|
||||
EXPECT_TRUE(frame.getSrcNodeID().isBroadcast());
|
||||
EXPECT_TRUE(frame.getDstNodeID().isBroadcast());
|
||||
EXPECT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
|
||||
EXPECT_EQ(2000, frame.getDataTypeID().get());
|
||||
EXPECT_EQ(uavcan::TransferPriorityHigh, frame.getPriority());
|
||||
|
||||
EXPECT_EQ(payload_string.length(), frame.getPayloadLen());
|
||||
EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
|
||||
payload_string.begin()));
|
||||
|
||||
std::cout << frame.toString() << std::endl;
|
||||
|
||||
/*
|
||||
* Compile
|
||||
*/
|
||||
CanFrame can_frame;
|
||||
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
|
||||
|
||||
ASSERT_TRUE(frame.compile(can_frame));
|
||||
ASSERT_EQ(can_id & 0xFFFFFF00 & uavcan::CanFrame::MaskExtID,
|
||||
can_frame.id & 0xFFFFFF00 & uavcan::CanFrame::MaskExtID);
|
||||
|
||||
EXPECT_EQ(payload_string.length(), can_frame.dlc);
|
||||
EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc, payload_string.begin()));
|
||||
|
||||
ASSERT_EQ(payload_sum, can_frame.id & 0xFF);
|
||||
|
||||
/*
|
||||
* Comparison
|
||||
*/
|
||||
ASSERT_FALSE(Frame() == frame);
|
||||
ASSERT_TRUE(Frame() != frame);
|
||||
frame = Frame();
|
||||
ASSERT_TRUE(Frame() == frame);
|
||||
ASSERT_FALSE(Frame() != frame);
|
||||
}
|
||||
|
||||
|
||||
TEST(Frame, FrameParsing)
|
||||
{
|
||||
using uavcan::Frame;
|
||||
@@ -88,17 +255,42 @@ TEST(Frame, FrameParsing)
|
||||
can.data[i] = uint8_t(i | (i << 4));
|
||||
}
|
||||
|
||||
// CAN ID field order: Transfer ID, Last Frame, Frame Index, Source Node ID, Transfer Type, Data Type ID
|
||||
/*
|
||||
* Message CAN ID fields and offsets:
|
||||
* 27 Priority (LOW=3, NORMAL=1, HIGH=0)
|
||||
* 16 Message Type ID
|
||||
* 9 Source Node ID
|
||||
* 8 BroadcastNotUnicast
|
||||
* 4 Frame Index
|
||||
* 3 Last Frame
|
||||
* 0 Transfer ID
|
||||
*
|
||||
* Service CAN ID fields and offsets:
|
||||
* 27 Priority (SERVICE=2)
|
||||
* 26 RequestNotResponse
|
||||
* 17 Service Type ID
|
||||
* 10 Source Node ID
|
||||
* 4 Frame Index
|
||||
* 3 Last Frame
|
||||
* 0 Transfer ID
|
||||
*/
|
||||
|
||||
/*
|
||||
* SFT broadcast
|
||||
* SFT message broadcast
|
||||
*/
|
||||
can.id = CanFrame::FlagEFF |
|
||||
(2 << 0) | (1 << 3) | (0 << 4) | (42 << 10) | (uavcan::TransferTypeMessageBroadcast << 17) | (456 << 19);
|
||||
(2 << 0) |
|
||||
(1 << 3) |
|
||||
(0 << 4) |
|
||||
(1 << 8) |
|
||||
(42 << 9) |
|
||||
(456 << 16) |
|
||||
(1 << 27);
|
||||
|
||||
ASSERT_TRUE(frame.parse(can));
|
||||
ASSERT_TRUE(frame.isFirst());
|
||||
ASSERT_TRUE(frame.isLast());
|
||||
ASSERT_EQ(uavcan::TransferPriorityNormal, frame.getPriority());
|
||||
ASSERT_EQ(0, frame.getIndex());
|
||||
ASSERT_EQ(NodeID(42), frame.getSrcNodeID());
|
||||
ASSERT_EQ(NodeID::Broadcast, frame.getDstNodeID());
|
||||
@@ -108,10 +300,16 @@ TEST(Frame, FrameParsing)
|
||||
ASSERT_EQ(sizeof(CanFrame::data), frame.getMaxPayloadLen());
|
||||
|
||||
/*
|
||||
* SFT addressed
|
||||
* SFT message unicast
|
||||
*/
|
||||
can.id = CanFrame::FlagEFF |
|
||||
(2 << 0) | (1 << 3) | (0 << 4) | (42 << 10) | (uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
|
||||
(2 << 0) |
|
||||
(1 << 3) | // Last Frame
|
||||
(0 << 4) | // Frame Index
|
||||
(0 << 8) |
|
||||
(42 << 9) |
|
||||
(456 << 16) |
|
||||
(0 << 27);
|
||||
|
||||
ASSERT_FALSE(frame.parse(can)); // No payload - failure
|
||||
|
||||
@@ -124,6 +322,7 @@ TEST(Frame, FrameParsing)
|
||||
|
||||
ASSERT_TRUE(frame.isFirst());
|
||||
ASSERT_TRUE(frame.isLast());
|
||||
ASSERT_EQ(uavcan::TransferPriorityHigh, frame.getPriority());
|
||||
ASSERT_EQ(0, frame.getIndex());
|
||||
ASSERT_EQ(NodeID(42), frame.getSrcNodeID());
|
||||
ASSERT_EQ(NodeID(127), frame.getDstNodeID());
|
||||
@@ -133,20 +332,32 @@ TEST(Frame, FrameParsing)
|
||||
ASSERT_EQ(sizeof(CanFrame::data) - 1, frame.getMaxPayloadLen());
|
||||
|
||||
/*
|
||||
* MFT invalid - unterminated transfer
|
||||
* MFT message unicast
|
||||
* Invalid - unterminated transfer
|
||||
*/
|
||||
can.id = CanFrame::FlagEFF |
|
||||
(2 << 0) | (0 << 3) |
|
||||
(unsigned(Frame::getMaxIndexForTransferType(uavcan::TransferTypeMessageUnicast)) << 4) | (42 << 10) |
|
||||
(uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
|
||||
(2 << 0) |
|
||||
(0 << 3) |
|
||||
(15 << 4) |
|
||||
(0 << 8) |
|
||||
(42 << 9) |
|
||||
(456 << 16) |
|
||||
(0 << 27);
|
||||
|
||||
ASSERT_FALSE(frame.parse(can));
|
||||
|
||||
/*
|
||||
* MFT invalid - invalid frame index
|
||||
* MFT service request
|
||||
* Invalid frame index
|
||||
*/
|
||||
can.id = CanFrame::FlagEFF |
|
||||
(2 << 0) | (0 << 3) | (63 << 4) | (42 << 10) | (uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
|
||||
(2 << 27) | // Priority (Service)
|
||||
(1 << 26) | // RequestNotResponse
|
||||
(500 << 17) | // Service Type ID
|
||||
(42 << 10) | // Source Node ID
|
||||
(63 << 4) | // Frame Index
|
||||
(1 << 3) | // Last Frame
|
||||
(5 << 0); // Transfer ID
|
||||
|
||||
ASSERT_FALSE(frame.parse(can));
|
||||
|
||||
@@ -154,27 +365,37 @@ TEST(Frame, FrameParsing)
|
||||
* Malformed frames
|
||||
*/
|
||||
can.id = CanFrame::FlagEFF |
|
||||
(2 << 0) | (1 << 3) | (0 << 4) | (42 << 10) | (uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
|
||||
(2 << 0) |
|
||||
(1 << 3) |
|
||||
(15 << 4) |
|
||||
(0 << 8) |
|
||||
(42 << 9) |
|
||||
(456 << 16) |
|
||||
(3 << 27);
|
||||
can.dlc = 3;
|
||||
can.data[0] = 42;
|
||||
ASSERT_FALSE(frame.parse(can)); // Src == Dst Node ID
|
||||
can.data[0] = 41;
|
||||
ASSERT_TRUE(frame.parse(can));
|
||||
|
||||
can.id = CanFrame::FlagEFF | // cppcheck-suppress duplicateExpression
|
||||
(2 << 0) | (1 << 3) | (0 << 4) | (0 << 10) | (uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
|
||||
ASSERT_FALSE(frame.parse(can)); // Broadcast Src Node ID with unicast transfer
|
||||
|
||||
can.id = CanFrame::FlagEFF | // cppcheck-suppress duplicateExpression
|
||||
(2 << 0) | (0 << 3) | (0 << 4) | (0 << 10) | (uavcan::TransferTypeMessageBroadcast << 17) | (456 << 19);
|
||||
ASSERT_FALSE(frame.parse(can)); // Broadcast Src Node ID with multiframe broadcast transfer
|
||||
ASSERT_EQ(uavcan::TransferPriorityLow, frame.getPriority());
|
||||
|
||||
/*
|
||||
* Broadcast SNID exceptions
|
||||
* Note that last 3 fields are ignored
|
||||
*/
|
||||
can.id = CanFrame::FlagEFF | // cppcheck-suppress duplicateExpression
|
||||
(2 << 0) | (1 << 3) | (0 << 4) | (0 << 10) | (uavcan::TransferTypeMessageBroadcast << 17) | (456 << 19);
|
||||
ASSERT_TRUE(frame.parse(can)); // Broadcast Src Node ID with single frame broadcast transfer
|
||||
can.id = CanFrame::FlagEFF |
|
||||
(2 << 27) | // Priority
|
||||
(2000 << 16) | // Message Type ID
|
||||
(0 << 9) | // Source Node ID
|
||||
(1 << 8); // BroadcastNotUnicast
|
||||
ASSERT_FALSE(frame.parse(can)); // Invalid priority
|
||||
|
||||
can.id = CanFrame::FlagEFF |
|
||||
(1 << 27) | // Priority
|
||||
(2000 << 16) | // Message Type ID
|
||||
(0 << 9) | // Source Node ID
|
||||
(1 << 8); // BroadcastNotUnicast
|
||||
ASSERT_TRUE(frame.parse(can));
|
||||
}
|
||||
|
||||
|
||||
@@ -193,14 +414,14 @@ TEST(Frame, RxFrameParse)
|
||||
|
||||
// Valid
|
||||
can_rx_frame.ts_mono = uavcan::MonotonicTime::fromUSec(1); // Zero is not allowed
|
||||
can_rx_frame.id =
|
||||
CanFrame::FlagEFF |
|
||||
(2 << 0) | // Transfer ID
|
||||
(1 << 3) | // Last Frame
|
||||
(29 << 4) | // Frame Index
|
||||
(42 << 10) | // Source Node ID
|
||||
(uavcan::TransferTypeMessageBroadcast << 17) |
|
||||
(456 << 19); // Data Type ID
|
||||
can_rx_frame.id = CanFrame::FlagEFF |
|
||||
(2 << 0) |
|
||||
(1 << 3) |
|
||||
(0 << 4) |
|
||||
(1 << 8) |
|
||||
(42 << 9) |
|
||||
(456 << 16) |
|
||||
(1 << 27);
|
||||
|
||||
ASSERT_TRUE(rx_frame.parse(can_rx_frame));
|
||||
ASSERT_EQ(1, rx_frame.getMonotonicTimestamp().toUSec());
|
||||
|
||||
@@ -46,19 +46,26 @@ TEST(TransferListener, BasicMFT)
|
||||
*/
|
||||
static const std::string DATA[] =
|
||||
{
|
||||
"123456789",
|
||||
|
||||
// Too long for unicast messages
|
||||
"Build a man a fire, and he'll be warm for a day. "
|
||||
"Set a man on fire, and he'll be warm for the rest of his life.",
|
||||
|
||||
"The USSR, which they'd begun to renovate and improve at about the time when Tatarsky decided to "
|
||||
"change his profession, improved so much that it ceased to exist",
|
||||
"123456789",
|
||||
|
||||
"In the beginning there was nothing, which exploded.",
|
||||
|
||||
// Too long for message transfers
|
||||
"The USSR, which they'd begun to renovate and improve at about the time when Tatarsky decided to "
|
||||
"change his profession, improved so much that it ceased to exist",
|
||||
|
||||
"BEWARE JET BLAST"
|
||||
};
|
||||
|
||||
for (unsigned i = 0; i < sizeof(DATA) / sizeof(DATA[0]); i++)
|
||||
{
|
||||
std::cout << "Size of test data chunk " << i << ": " << DATA[i].length() << std::endl;
|
||||
}
|
||||
|
||||
TransferListenerEmulator emulator(subscriber, type);
|
||||
const Transfer transfers[] =
|
||||
{
|
||||
@@ -71,15 +78,15 @@ TEST(TransferListener, BasicMFT)
|
||||
|
||||
/*
|
||||
* Sending concurrently
|
||||
* Expected reception order: 0, 4, 3, 1, 2
|
||||
* Expected reception order: 1, 4, 2, 0, 3
|
||||
*/
|
||||
emulator.send(transfers);
|
||||
|
||||
ASSERT_TRUE(subscriber.matchAndPop(transfers[0]));
|
||||
ASSERT_TRUE(subscriber.matchAndPop(transfers[4]));
|
||||
ASSERT_TRUE(subscriber.matchAndPop(transfers[3]));
|
||||
ASSERT_TRUE(subscriber.matchAndPop(transfers[1]));
|
||||
ASSERT_TRUE(subscriber.matchAndPop(transfers[4]));
|
||||
ASSERT_TRUE(subscriber.matchAndPop(transfers[2]));
|
||||
ASSERT_TRUE(subscriber.matchAndPop(transfers[0]));
|
||||
ASSERT_TRUE(subscriber.matchAndPop(transfers[3]));
|
||||
|
||||
ASSERT_TRUE(subscriber.isEmpty());
|
||||
}
|
||||
|
||||
@@ -137,7 +137,7 @@ TEST(TransferReceiver, Basic)
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "abcdefgh", 1, false, 1, 1200), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "45678910", 1, false, 2, 1300), bk)); // Next TID, but FI > 0
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 2, true, 1, 1300), bk)); // Wrong iface
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 31, true, 1, 1300), bk)); // Unexpected FI
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 11, true, 1, 1300), bk)); // Unexpected FI
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "", 2, true, 1, 1300), bk));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678abcdefgh"));
|
||||
|
||||
Reference in New Issue
Block a user