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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-01 06:11:35 +08:00
Passing all tests now
This commit is contained in:
Pavel Kirienko
@@ -9,7 +9,7 @@
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#include "can/can.hpp"
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TEST(Frame, FrameParseCompile)
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TEST(Frame, MessageParseCompile)
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{
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using uavcan::Frame;
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using uavcan::CanFrame;
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@@ -18,13 +18,23 @@ TEST(Frame, FrameParseCompile)
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Frame frame;
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/*
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* Priority (LOW, NORMAL, HIGH)
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* Message Type ID
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* Source Node ID
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* BroadcastNotUnicast
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* Frame Index
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* Last Frame
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* Transfer ID
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*/
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const uint32_t can_id =
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(2 << 0) | // Transfer ID
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(1 << 3) | // Last Frame
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(29 << 4) | // Frame Index
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(42 << 10) | // Source Node ID
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(uavcan::TransferTypeMessageBroadcast << 17) |
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(456 << 19); // Data Type ID
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(1 << 27) | // Priority
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(2000 << 16) | // Message Type ID
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(42 << 9) | // Source Node ID
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(1 << 8) | // BroadcastNotUnicast
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(11 << 4) | // Frame Index
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(1 << 3) | // Last Frame
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(2 << 0); // Transfer ID
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const std::string payload_string = "hello";
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@@ -40,15 +50,19 @@ TEST(Frame, FrameParseCompile)
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EXPECT_EQ(TransferID(2), frame.getTransferID());
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EXPECT_TRUE(frame.isLast());
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EXPECT_EQ(29, frame.getIndex());
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EXPECT_EQ(11, frame.getIndex());
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EXPECT_EQ(uavcan::NodeID(42), frame.getSrcNodeID());
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EXPECT_TRUE(frame.getDstNodeID().isBroadcast());
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EXPECT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
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EXPECT_EQ(456, frame.getDataTypeID().get());
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EXPECT_EQ(2000, frame.getDataTypeID().get());
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EXPECT_EQ(uavcan::TransferPriorityNormal, frame.getPriority());
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EXPECT_EQ(payload_string.length(), frame.getPayloadLen());
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EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
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payload_string.begin()));
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std::cout << frame.toString() << std::endl;
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/*
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* Compile
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*/
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@@ -72,6 +86,159 @@ TEST(Frame, FrameParseCompile)
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}
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TEST(Frame, ServiceParseCompile)
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{
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using uavcan::Frame;
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using uavcan::CanFrame;
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using uavcan::TransferID;
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using uavcan::TransferType;
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Frame frame;
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/*
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* Priority = SERVICE
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* RequestNotResponse
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* Service Type ID
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* Source Node ID
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* Frame Index
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* Last Frame
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* Transfer ID
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*/
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const uint32_t can_id =
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(2 << 27) | // Priority (Service)
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(1 << 26) | // RequestNotResponse
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(500 << 17) | // Service Type ID
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(42 << 10) | // Source Node ID
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(60 << 4) | // Frame Index
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(1 << 3) | // Last Frame
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(5 << 0); // Transfer ID
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const std::string payload_string = "\x42hello"; // dst = 0x42
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/*
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* Parse
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*/
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// Invalid CAN frames
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ASSERT_FALSE(frame.parse(CanFrame(can_id | CanFrame::FlagRTR, (const uint8_t*)"", 0)));
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ASSERT_FALSE(frame.parse(makeCanFrame(can_id, payload_string, STD)));
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// Valid
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ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
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EXPECT_EQ(TransferID(5), frame.getTransferID());
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EXPECT_TRUE(frame.isLast());
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EXPECT_EQ(60, frame.getIndex());
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EXPECT_EQ(uavcan::NodeID(42), frame.getSrcNodeID());
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EXPECT_EQ(uavcan::NodeID(0x42), frame.getDstNodeID());
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EXPECT_EQ(uavcan::TransferTypeServiceRequest, frame.getTransferType());
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EXPECT_EQ(500, frame.getDataTypeID().get());
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EXPECT_EQ(uavcan::TransferPriorityService, frame.getPriority());
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EXPECT_EQ(payload_string.length(), frame.getPayloadLen() + 1);
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EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
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payload_string.begin() + 1));
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std::cout << frame.toString() << std::endl;
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/*
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* Compile
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*/
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CanFrame can_frame;
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ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
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ASSERT_TRUE(frame.compile(can_frame));
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ASSERT_EQ(can_frame, makeCanFrame(can_id, payload_string, EXT));
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EXPECT_EQ(payload_string.length(), can_frame.dlc);
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EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc, payload_string.begin()));
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/*
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* Comparison
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*/
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ASSERT_FALSE(Frame() == frame);
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ASSERT_TRUE(Frame() != frame);
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frame = Frame();
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ASSERT_TRUE(Frame() == frame);
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ASSERT_FALSE(Frame() != frame);
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}
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TEST(Frame, AnonymousParseCompile)
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{
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using uavcan::Frame;
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using uavcan::CanFrame;
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using uavcan::TransferID;
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using uavcan::TransferType;
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Frame frame;
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/*
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* Priority (LOW, NORMAL, HIGH)
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* Message Type ID
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* Source Node ID
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* BroadcastNotUnicast
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* Frame Index
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* Last Frame
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* Transfer ID
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*/
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const uint32_t can_id =
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(0 << 27) | // Priority (high)
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(2000 << 16) | // Message Type ID
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(0 << 9) | // Source Node ID
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(1 << 8) | // BroadcastNotUnicast
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(11 << 4) | // Frame Index (will be ignored)
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(1 << 3) | // Last Frame (will be ignored)
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(2 << 0); // Transfer ID (will be ignored)
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const std::string payload_string = "\x01\x02\x03\x04";
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const uint8_t payload_sum = 1 + 2 + 3 + 4;
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/*
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* Parse
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*/
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ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
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EXPECT_EQ(TransferID(0), frame.getTransferID());
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EXPECT_TRUE(frame.isLast());
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EXPECT_EQ(0, frame.getIndex());
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EXPECT_TRUE(frame.getSrcNodeID().isBroadcast());
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EXPECT_TRUE(frame.getDstNodeID().isBroadcast());
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EXPECT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
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EXPECT_EQ(2000, frame.getDataTypeID().get());
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EXPECT_EQ(uavcan::TransferPriorityHigh, frame.getPriority());
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EXPECT_EQ(payload_string.length(), frame.getPayloadLen());
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EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
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payload_string.begin()));
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std::cout << frame.toString() << std::endl;
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/*
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* Compile
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*/
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CanFrame can_frame;
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ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
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ASSERT_TRUE(frame.compile(can_frame));
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ASSERT_EQ(can_id & 0xFFFFFF00 & uavcan::CanFrame::MaskExtID,
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can_frame.id & 0xFFFFFF00 & uavcan::CanFrame::MaskExtID);
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EXPECT_EQ(payload_string.length(), can_frame.dlc);
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EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc, payload_string.begin()));
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ASSERT_EQ(payload_sum, can_frame.id & 0xFF);
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/*
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* Comparison
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*/
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ASSERT_FALSE(Frame() == frame);
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ASSERT_TRUE(Frame() != frame);
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frame = Frame();
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ASSERT_TRUE(Frame() == frame);
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ASSERT_FALSE(Frame() != frame);
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}
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TEST(Frame, FrameParsing)
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{
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using uavcan::Frame;
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@@ -88,17 +255,42 @@ TEST(Frame, FrameParsing)
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can.data[i] = uint8_t(i | (i << 4));
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}
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// CAN ID field order: Transfer ID, Last Frame, Frame Index, Source Node ID, Transfer Type, Data Type ID
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/*
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* Message CAN ID fields and offsets:
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* 27 Priority (LOW=3, NORMAL=1, HIGH=0)
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* 16 Message Type ID
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* 9 Source Node ID
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* 8 BroadcastNotUnicast
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* 4 Frame Index
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* 3 Last Frame
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* 0 Transfer ID
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*
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* Service CAN ID fields and offsets:
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* 27 Priority (SERVICE=2)
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* 26 RequestNotResponse
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* 17 Service Type ID
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* 10 Source Node ID
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* 4 Frame Index
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* 3 Last Frame
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* 0 Transfer ID
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*/
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/*
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* SFT broadcast
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* SFT message broadcast
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*/
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can.id = CanFrame::FlagEFF |
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(2 << 0) | (1 << 3) | (0 << 4) | (42 << 10) | (uavcan::TransferTypeMessageBroadcast << 17) | (456 << 19);
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(2 << 0) |
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(1 << 3) |
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(0 << 4) |
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(1 << 8) |
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(42 << 9) |
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(456 << 16) |
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(1 << 27);
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ASSERT_TRUE(frame.parse(can));
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ASSERT_TRUE(frame.isFirst());
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ASSERT_TRUE(frame.isLast());
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ASSERT_EQ(uavcan::TransferPriorityNormal, frame.getPriority());
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ASSERT_EQ(0, frame.getIndex());
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ASSERT_EQ(NodeID(42), frame.getSrcNodeID());
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ASSERT_EQ(NodeID::Broadcast, frame.getDstNodeID());
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@@ -108,10 +300,16 @@ TEST(Frame, FrameParsing)
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ASSERT_EQ(sizeof(CanFrame::data), frame.getMaxPayloadLen());
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/*
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* SFT addressed
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* SFT message unicast
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*/
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can.id = CanFrame::FlagEFF |
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(2 << 0) | (1 << 3) | (0 << 4) | (42 << 10) | (uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
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(2 << 0) |
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(1 << 3) | // Last Frame
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(0 << 4) | // Frame Index
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(0 << 8) |
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(42 << 9) |
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(456 << 16) |
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(0 << 27);
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ASSERT_FALSE(frame.parse(can)); // No payload - failure
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@@ -124,6 +322,7 @@ TEST(Frame, FrameParsing)
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ASSERT_TRUE(frame.isFirst());
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ASSERT_TRUE(frame.isLast());
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ASSERT_EQ(uavcan::TransferPriorityHigh, frame.getPriority());
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ASSERT_EQ(0, frame.getIndex());
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ASSERT_EQ(NodeID(42), frame.getSrcNodeID());
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ASSERT_EQ(NodeID(127), frame.getDstNodeID());
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@@ -133,20 +332,32 @@ TEST(Frame, FrameParsing)
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ASSERT_EQ(sizeof(CanFrame::data) - 1, frame.getMaxPayloadLen());
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/*
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* MFT invalid - unterminated transfer
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* MFT message unicast
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* Invalid - unterminated transfer
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*/
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can.id = CanFrame::FlagEFF |
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(2 << 0) | (0 << 3) |
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(unsigned(Frame::getMaxIndexForTransferType(uavcan::TransferTypeMessageUnicast)) << 4) | (42 << 10) |
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(uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
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(2 << 0) |
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(0 << 3) |
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(15 << 4) |
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(0 << 8) |
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(42 << 9) |
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(456 << 16) |
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(0 << 27);
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ASSERT_FALSE(frame.parse(can));
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/*
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* MFT invalid - invalid frame index
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* MFT service request
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* Invalid frame index
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*/
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can.id = CanFrame::FlagEFF |
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(2 << 0) | (0 << 3) | (63 << 4) | (42 << 10) | (uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
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(2 << 27) | // Priority (Service)
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(1 << 26) | // RequestNotResponse
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(500 << 17) | // Service Type ID
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(42 << 10) | // Source Node ID
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(63 << 4) | // Frame Index
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(1 << 3) | // Last Frame
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(5 << 0); // Transfer ID
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ASSERT_FALSE(frame.parse(can));
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@@ -154,27 +365,37 @@ TEST(Frame, FrameParsing)
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* Malformed frames
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*/
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can.id = CanFrame::FlagEFF |
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(2 << 0) | (1 << 3) | (0 << 4) | (42 << 10) | (uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
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(2 << 0) |
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(1 << 3) |
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(15 << 4) |
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(0 << 8) |
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(42 << 9) |
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(456 << 16) |
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(3 << 27);
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can.dlc = 3;
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can.data[0] = 42;
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ASSERT_FALSE(frame.parse(can)); // Src == Dst Node ID
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can.data[0] = 41;
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ASSERT_TRUE(frame.parse(can));
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can.id = CanFrame::FlagEFF | // cppcheck-suppress duplicateExpression
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(2 << 0) | (1 << 3) | (0 << 4) | (0 << 10) | (uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
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ASSERT_FALSE(frame.parse(can)); // Broadcast Src Node ID with unicast transfer
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can.id = CanFrame::FlagEFF | // cppcheck-suppress duplicateExpression
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(2 << 0) | (0 << 3) | (0 << 4) | (0 << 10) | (uavcan::TransferTypeMessageBroadcast << 17) | (456 << 19);
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ASSERT_FALSE(frame.parse(can)); // Broadcast Src Node ID with multiframe broadcast transfer
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ASSERT_EQ(uavcan::TransferPriorityLow, frame.getPriority());
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/*
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* Broadcast SNID exceptions
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* Note that last 3 fields are ignored
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*/
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can.id = CanFrame::FlagEFF | // cppcheck-suppress duplicateExpression
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(2 << 0) | (1 << 3) | (0 << 4) | (0 << 10) | (uavcan::TransferTypeMessageBroadcast << 17) | (456 << 19);
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ASSERT_TRUE(frame.parse(can)); // Broadcast Src Node ID with single frame broadcast transfer
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can.id = CanFrame::FlagEFF |
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(2 << 27) | // Priority
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(2000 << 16) | // Message Type ID
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(0 << 9) | // Source Node ID
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(1 << 8); // BroadcastNotUnicast
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ASSERT_FALSE(frame.parse(can)); // Invalid priority
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can.id = CanFrame::FlagEFF |
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(1 << 27) | // Priority
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(2000 << 16) | // Message Type ID
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(0 << 9) | // Source Node ID
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(1 << 8); // BroadcastNotUnicast
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ASSERT_TRUE(frame.parse(can));
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}
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@@ -193,14 +414,14 @@ TEST(Frame, RxFrameParse)
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// Valid
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can_rx_frame.ts_mono = uavcan::MonotonicTime::fromUSec(1); // Zero is not allowed
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can_rx_frame.id =
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CanFrame::FlagEFF |
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(2 << 0) | // Transfer ID
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(1 << 3) | // Last Frame
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(29 << 4) | // Frame Index
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(42 << 10) | // Source Node ID
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(uavcan::TransferTypeMessageBroadcast << 17) |
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(456 << 19); // Data Type ID
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can_rx_frame.id = CanFrame::FlagEFF |
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(2 << 0) |
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(1 << 3) |
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(0 << 4) |
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(1 << 8) |
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(42 << 9) |
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(456 << 16) |
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(1 << 27);
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ASSERT_TRUE(rx_frame.parse(can_rx_frame));
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ASSERT_EQ(1, rx_frame.getMonotonicTimestamp().toUSec());
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