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NodeStatus timing constant updates

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This commit is contained in:
Pavel Kirienko
2014-08-24 19:44:04 +04:00
parent 6e3627dda8
commit c7872def16
5 changed files with 16 additions and 14 deletions
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libuavcan/test/protocol/node_status_monitor.cpp
+4 -4
View File
@@ -106,19 +106,19 @@ TEST(NodeStatusMonitor, Basic)
*/
std::cout << "Starting timeout test, current monotime is " << clock_mock.monotonic << std::endl;
clock_mock.advance(1000000);
clock_mock.advance(500000);
shortSpin(node);
st = nsm.getNodeStatus(uavcan::NodeID(10));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OK, st.status_code);
clock_mock.advance(1000000);
clock_mock.advance(500000);
shortSpin(node);
st = nsm.getNodeStatus(uavcan::NodeID(9));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_INITIALIZING, st.status_code);
clock_mock.advance(1000000);
clock_mock.advance(500000);
shortSpin(node);
st = nsm.getNodeStatus(uavcan::NodeID(11));
ASSERT_TRUE(st.known);
@@ -127,7 +127,7 @@ TEST(NodeStatusMonitor, Basic)
/*
* Will timeout now
*/
clock_mock.advance(2000000);
clock_mock.advance(4000000);
shortSpin(node);
st = nsm.getNodeStatus(uavcan::NodeID(10));
libuavcan/test/protocol/node_status_provider.cpp
+4 -3
View File
@@ -47,14 +47,15 @@ TEST(NodeStatusProvider, Basic)
ASSERT_LE(0, nsp.startAndPublish());
// Checking the publishing rate settings
ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::PUBLICATION_PERIOD_MS),
ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MAX_PUBLICATION_PERIOD_MS),
nsp.getStatusPublishingPeriod());
nsp.setStatusPublishingPeriod(uavcan::MonotonicDuration());
ASSERT_FALSE(nsp.getStatusPublishingPeriod().isZero());
ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MIN_PUBLICATION_PERIOD_MS),
nsp.getStatusPublishingPeriod());
nsp.setStatusPublishingPeriod(uavcan::MonotonicDuration::fromMSec(3600 * 1000 * 24));
ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::PUBLICATION_PERIOD_MS),
ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MAX_PUBLICATION_PERIOD_MS),
nsp.getStatusPublishingPeriod());
/*