Renaming: Server<> --> ServiceServer<>

2026-07-15 07:30:35 +08:00 · 2014-03-14 01:20:27 +04:00
parent cefc346ebb
commit bc70390722
3 changed files with 13 additions and 13 deletions
@@ -0,0 +1,119 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/service_server.hpp>
+#include <uavcan/util/method_binder.hpp>
+#include <root_ns_a/StringService.hpp>
+#include "clock.hpp"
+#include "internal/transport/can/can.hpp"
+
+
+struct ServerImpl
+{
+    const char* string_response;
+
+    ServerImpl(const char* string_response) : string_response(string_response) { }
+
+    void handleRequest(const uavcan::ReceivedDataStructure<root_ns_a::StringService::Request>& request,
+                       root_ns_a::StringService::Response& response)
+    {
+        std::cout << request << std::endl;
+        response.string_response = request.string_request;
+        response.string_response += " --> ";
+        response.string_response += string_response;
+        std::cout << response << std::endl;
+    }
+
+    typedef uavcan::MethodBinder<ServerImpl*,
+        void (ServerImpl::*)(const uavcan::ReceivedDataStructure<root_ns_a::StringService::Request>&,
+                             root_ns_a::StringService::Response&)> Binder;
+
+    Binder bind() { return Binder(this, &ServerImpl::handleRequest); }
+};
+
+
+TEST(ServiceServer, Basic)
+{
+    uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
+    uavcan::PoolManager<1> poolmgr;
+    poolmgr.addPool(&pool);
+
+    // Manual type registration - we can't rely on the GDTR state
+    uavcan::GlobalDataTypeRegistry::instance().reset();
+    uavcan::DefaultDataTypeRegistrator<root_ns_a::StringService> _registrator;
+
+    SystemClockDriver clock_driver;
+    CanDriverMock can_driver(1, clock_driver);
+
+    uavcan::MarshalBufferProvider<> buffer_provider;
+    uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
+
+    uavcan::Scheduler sch(can_driver, poolmgr, clock_driver, out_trans_reg, uavcan::NodeID(1));
+
+    ServerImpl impl("456");
+
+    {
+        uavcan::ServiceServer<root_ns_a::StringService, ServerImpl::Binder> server(sch, poolmgr, buffer_provider);
+
+        ASSERT_EQ(0, sch.getDispatcher().getNumServiceRequestListeners());
+        server.start(impl.bind());
+        ASSERT_EQ(1, sch.getDispatcher().getNumServiceRequestListeners());
+
+        /*
+         * Request frames
+         */
+        for (int i = 0; i < 2; i++)
+        {
+            // uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
+            // uint_fast8_t frame_index, TransferID transfer_id, bool last_frame
+            uavcan::Frame frame(root_ns_a::StringService::DefaultDataTypeID, uavcan::TransferTypeServiceRequest,
+                                uavcan::NodeID(i + 0x10), 1, 0, i, true);
+
+            const uint8_t req[] = {'r', 'e', 'q', uint8_t(i + '0')};
+            frame.setPayload(req, sizeof(req));
+
+            uavcan::RxFrame rx_frame(frame, clock_driver.getMonotonic(), clock_driver.getUtc(), 0);
+            can_driver.ifaces[0].pushRx(rx_frame);
+        }
+
+        sch.spin(clock_driver.getMonotonic() + uavcan::MonotonicDuration::fromUSec(10000));
+
+        /*
+         * Responses (MFT)
+         */
+        ASSERT_EQ(4, can_driver.ifaces[0].tx.size());
+        for (int i = 0; i < 2; i++)
+        {
+            char payloads[2][8];
+            std::snprintf(payloads[0], 8, "req%i ", i);
+            std::snprintf(payloads[1], 8, "--> 456");
+
+            // First frame
+            uavcan::Frame fr;
+            ASSERT_TRUE(fr.parse(can_driver.ifaces[0].popTxFrame()));
+            std::cout << fr.toString() << std::endl;
+            ASSERT_STREQ(payloads[0], reinterpret_cast<const char*>(fr.getPayloadPtr() + 2)); // Skipping CRC
+
+            ASSERT_EQ(i, fr.getTransferID().get());
+            ASSERT_EQ(uavcan::TransferTypeServiceResponse, fr.getTransferType());
+            ASSERT_EQ(i + 0x10, fr.getDstNodeID().get());
+
+            // Second frame
+            ASSERT_TRUE(fr.parse(can_driver.ifaces[0].popTxFrame()));
+            std::cout << fr.toString() << std::endl;
+            ASSERT_STREQ(payloads[1], reinterpret_cast<const char*>(fr.getPayloadPtr()));
+
+            ASSERT_EQ(i, fr.getTransferID().get());
+            ASSERT_EQ(uavcan::TransferTypeServiceResponse, fr.getTransferType());
+            ASSERT_EQ(i + 0x10, fr.getDstNodeID().get());
+        }
+
+        ASSERT_EQ(0, server.getRequestFailureCount());
+        ASSERT_EQ(0, server.getResponseFailureCount());
+
+        ASSERT_EQ(1, sch.getDispatcher().getNumServiceRequestListeners());
+    }
+    ASSERT_EQ(0, sch.getDispatcher().getNumServiceRequestListeners());
+}