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libuavcan passive mode support

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This commit is contained in:
Pavel Kirienko
2014-07-12 16:52:17 +04:00
parent 93f861ad60
commit c9c9a16e94
6 changed files with 47 additions and 4 deletions
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libuavcan/test/transport/transfer_sender.cpp
+25
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@@ -218,3 +218,28 @@ TEST(TransferSender, Loopback)
EXPECT_EQ(1, dispatcher.getTransferPerfCounter().getTxTransferCount());
EXPECT_EQ(0, dispatcher.getTransferPerfCounter().getRxTransferCount());
}
TEST(TransferSender, PassiveMode)
{
uavcan::PoolManager<1> poolmgr;
SystemClockMock clockmock(100);
CanDriverMock driver(2, clockmock);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
uavcan::TransferSender sender(dispatcher, makeDataType(uavcan::DataTypeKindMessage, 123),
uavcan::CanTxQueue::Volatile);
static const uint8_t Payload[] = {1, 2, 3, 4, 5};
ASSERT_EQ(-uavcan::ErrPassiveMode,
sender.send(Payload, sizeof(Payload), tsMono(1000), uavcan::MonotonicTime(),
uavcan::TransferTypeMessageBroadcast, uavcan::NodeID::Broadcast));
EXPECT_EQ(0, dispatcher.getTransferPerfCounter().getErrorCount());
EXPECT_EQ(0, dispatcher.getTransferPerfCounter().getTxTransferCount());
EXPECT_EQ(0, dispatcher.getTransferPerfCounter().getRxTransferCount());
}