fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 16:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

First step in changing the CAN frame format - introduced various transfer lengths per transfer type

Browse Source
This commit is contained in:
Pavel Kirienko
2015-04-28 11:27:01 +03:00
parent 1b75c48783
commit c159f9f7df
7 changed files with 44 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/test/transport/transfer_listener.cpp
+10 -7
View File
@@ -225,21 +225,24 @@ TEST(TransferListener, MaximumTransferLength)
uavcan::PoolManager<1> poolmgr;
uavcan::TransferPerfCounter perf;
TestListener<uavcan::MaxTransferPayloadLen * 2, 2, 2> subscriber(perf, type, poolmgr);
static const std::string DATA_OK(uavcan::MaxTransferPayloadLen, 'z');
TestListener<uavcan::MaxPossibleTransferPayloadLen * 2, 3, 3> subscriber(perf, type, poolmgr);
TransferListenerEmulator emulator(subscriber, type);
const Transfer transfers[] =
{
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 1, DATA_OK),
emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 1, DATA_OK)
emulator.makeTransfer(uavcan::TransferTypeServiceRequest, 1,
std::string(uavcan::MaxServiceTransferPayloadLen, 'z')), // Longer
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 2,
std::string(uavcan::MaxMessageUnicastTransferPayloadLen, 'z')), // Shorter
emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 3,
std::string(uavcan::MaxMessageBroadcastTransferPayloadLen, 'z')) // Same as above
};
emulator.send(transfers);
ASSERT_TRUE(subscriber.matchAndPop(transfers[1])); // Broadcast is shorter, so will complete first
ASSERT_TRUE(subscriber.matchAndPop(transfers[0]));
ASSERT_TRUE(subscriber.matchAndPop(transfers[1]));
ASSERT_TRUE(subscriber.matchAndPop(transfers[2]));
ASSERT_TRUE(subscriber.matchAndPop(transfers[0])); // Service takes more frames
ASSERT_TRUE(subscriber.isEmpty());
}