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Merge branch 'master' into dsdl_review

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This commit is contained in:
Pavel Kirienko
2015-03-16 23:52:27 +03:00
parent 4df5d41c11 2d7e20b885
commit cd1cb470ee
88 changed files with 667 additions and 240 deletions
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libuavcan/test/node/global_data_type_registry.cpp
+20 -14
View File
@@ -95,8 +95,9 @@ TEST(GlobalDataTypeRegistry, Basic)
/*
* Runtime registrations
*/
ASSERT_EQ(GlobalDataTypeRegistry::RegistResultOk,
GlobalDataTypeRegistry::instance().regist<DataTypeAService>(DataTypeAService::DefaultDataTypeID));
ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultOk,
GlobalDataTypeRegistry::instance().registerDataType<DataTypeAService>(
DataTypeAService::DefaultDataTypeID));
ASSERT_EQ(2, GlobalDataTypeRegistry::instance().getNumMessageTypes());
ASSERT_EQ(1, GlobalDataTypeRegistry::instance().getNumServiceTypes());
@@ -109,8 +110,10 @@ TEST(GlobalDataTypeRegistry, Basic)
/*
* Runtime re-registration
*/
ASSERT_EQ(GlobalDataTypeRegistry::RegistResultOk, GlobalDataTypeRegistry::instance().regist<DataTypeAService>(147));
ASSERT_EQ(GlobalDataTypeRegistry::RegistResultOk, GlobalDataTypeRegistry::instance().regist<DataTypeB>(741));
ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultOk,
GlobalDataTypeRegistry::instance().registerDataType<DataTypeAService>(147));
ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultOk,
GlobalDataTypeRegistry::instance().registerDataType<DataTypeB>(741));
ASSERT_EQ(2, GlobalDataTypeRegistry::instance().getNumMessageTypes());
ASSERT_EQ(1, GlobalDataTypeRegistry::instance().getNumServiceTypes());
@@ -129,11 +132,11 @@ TEST(GlobalDataTypeRegistry, Basic)
/*
* These types will be necessary for the aggregate signature test
*/
ASSERT_EQ(GlobalDataTypeRegistry::RegistResultCollision,
GlobalDataTypeRegistry::instance().regist<DataTypeC>(741)); // ID COLLISION
ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultCollision,
GlobalDataTypeRegistry::instance().registerDataType<DataTypeC>(741)); // ID COLLISION
ASSERT_EQ(GlobalDataTypeRegistry::RegistResultOk,
GlobalDataTypeRegistry::instance().regist<DataTypeC>(DataTypeC::DefaultDataTypeID));
ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultOk,
GlobalDataTypeRegistry::instance().registerDataType<DataTypeC>(DataTypeC::DefaultDataTypeID));
uavcan::DefaultDataTypeRegistrator<DataTypeD> reg_DataTypeD;
GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindMessage, dtmask);
@@ -154,20 +157,21 @@ TEST(GlobalDataTypeRegistry, Basic)
*/
GlobalDataTypeRegistry::instance().freeze();
ASSERT_EQ(GlobalDataTypeRegistry::RegistResultFrozen,
GlobalDataTypeRegistry::instance().regist<DataTypeAService>(555)); // Rejected
ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultFrozen,
GlobalDataTypeRegistry::instance().registerDataType<DataTypeAService>(555)); // Rejected
ASSERT_EQ(GlobalDataTypeRegistry::RegistResultFrozen,
GlobalDataTypeRegistry::instance().regist<DataTypeAMessage>(999)); // Rejected
ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultFrozen,
GlobalDataTypeRegistry::instance().registerDataType<DataTypeAMessage>(999)); // Rejected
ASSERT_EQ(GlobalDataTypeRegistry::RegistResultFrozen,
GlobalDataTypeRegistry::instance().regist<DataTypeB>(888)); // Rejected
ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultFrozen,
GlobalDataTypeRegistry::instance().registerDataType<DataTypeB>(888)); // Rejected
/*
* Searching
*/
const uavcan::DataTypeDescriptor* pdtd = NULL;
ASSERT_FALSE(GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, "Nonexistent"));
ASSERT_FALSE(GlobalDataTypeRegistry::instance().find("Nonexistent"));
ASSERT_FALSE(GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, 987));
// Asking for service, but this is a message:
ASSERT_FALSE(GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindService, "my_namespace.DataTypeB"));
@@ -175,12 +179,14 @@ TEST(GlobalDataTypeRegistry, Basic)
ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage,
"my_namespace.DataTypeB")));
ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find("my_namespace.DataTypeB")));
ASSERT_EQ(extractDescriptor<DataTypeB>(741), *pdtd);
ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, 741)));
ASSERT_EQ(extractDescriptor<DataTypeB>(741), *pdtd);
ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage,
"my_namespace.DataTypeA")));
ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find("my_namespace.DataTypeA")));
ASSERT_EQ(extractDescriptor<DataTypeAMessage>(), *pdtd);
ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, uavcan::DataTypeID(0))));
ASSERT_EQ(extractDescriptor<DataTypeAMessage>(), *pdtd);
libuavcan/test/protocol/data_type_info_provider.cpp
+57 -2
View File
@@ -23,22 +23,39 @@ static bool validateDataTypeInfoResponse(const std::auto_ptr<ServiceCallResult<G
{
if (!resp.get())
{
std::cout << "Null response" << std::endl;
return false;
}
if (!resp->isSuccessful())
{
std::cout << "Request was not successful" << std::endl;
return false;
}
if (resp->response.name != DataType::getDataTypeFullName())
{
std::cout << "Type name mismatch: '"
<< resp->response.name.c_str() << "' '"
<< DataType::getDataTypeFullName() << "'" << std::endl;
return false;
}
if (DataType::getDataTypeSignature().get() != resp->response.signature)
{
std::cout << "Signature mismatch" << std::endl;
return false;
}
if (resp->response.mask != mask)
{
std::cout << "Mask mismatch" << std::endl;
return false;
}
if (resp->response.kind.value != DataType::DataTypeKind)
{
std::cout << "Kind mismatch" << std::endl;
return false;
}
if (resp->response.id != DataType::DefaultDataTypeID)
{
std::cout << "DTID mismatch" << std::endl;
return false;
}
return true;
@@ -75,9 +92,25 @@ TEST(DataTypeInfoProvider, Basic)
GetDataTypeInfo::Response::MASK_SERVING));
ASSERT_EQ(1, gdti_cln.collector.result->server_node_id.get());
/*
* GetDataTypeInfo request for GetDataTypeInfo by name
*/
gdti_request = GetDataTypeInfo::Request();
gdti_request.id = 999; // Intentionally wrong
gdti_request.kind.value = DataTypeKind::MESSAGE; // Intentionally wrong
gdti_request.name = "uavcan.protocol.GetDataTypeInfo";
ASSERT_LE(0, gdti_cln.call(1, gdti_request));
nodes.spinBoth(MonotonicDuration::fromMSec(10));
ASSERT_TRUE(validateDataTypeInfoResponse<GetDataTypeInfo>(gdti_cln.collector.result,
GetDataTypeInfo::Response::MASK_KNOWN |
GetDataTypeInfo::Response::MASK_SERVING));
ASSERT_EQ(1, gdti_cln.collector.result->server_node_id.get());
/*
* GetDataTypeInfo request for NodeStatus - not used yet
*/
gdti_request = GetDataTypeInfo::Request();
gdti_request.id = NodeStatus::DefaultDataTypeID;
gdti_request.kind.value = DataTypeKind::MESSAGE;
ASSERT_LE(0, gdti_cln.call(1, gdti_request));
@@ -107,15 +140,37 @@ TEST(DataTypeInfoProvider, Basic)
/*
* Requesting a non-existent type
*/
gdti_request = GetDataTypeInfo::Request();
gdti_request.id = ComputeAggregateTypeSignature::DefaultDataTypeID;
gdti_request.kind.value = 0xFF; // INVALID VALUE
gdti_request.kind.value = 3; // INVALID VALUE
ASSERT_LE(0, gdti_cln.call(1, gdti_request));
nodes.spinBoth(MonotonicDuration::fromMSec(10));
ASSERT_TRUE(gdti_cln.collector.result.get());
ASSERT_TRUE(gdti_cln.collector.result->isSuccessful());
ASSERT_EQ(1, gdti_cln.collector.result->server_node_id.get());
ASSERT_TRUE(gdti_cln.collector.result->response == GetDataTypeInfo::Response()); // Empty response
ASSERT_EQ(0, gdti_cln.collector.result->response.mask);
ASSERT_TRUE(gdti_cln.collector.result->response.name.empty()); // Empty name
ASSERT_EQ(gdti_request.id, gdti_cln.collector.result->response.id);
ASSERT_EQ(gdti_request.kind.value, gdti_cln.collector.result->response.kind.value);
/*
* Requesting a non-existent type by name
*/
gdti_request = GetDataTypeInfo::Request();
gdti_request.id = 999; // Intentionally wrong
gdti_request.kind.value = 3; // Intentionally wrong
gdti_request.name = "uavcan.equipment.gnss.Fix";
ASSERT_LE(0, gdti_cln.call(1, gdti_request));
nodes.spinBoth(MonotonicDuration::fromMSec(10));
ASSERT_TRUE(gdti_cln.collector.result.get());
ASSERT_TRUE(gdti_cln.collector.result->isSuccessful());
ASSERT_EQ(1, gdti_cln.collector.result->server_node_id.get());
ASSERT_EQ(0, gdti_cln.collector.result->response.mask);
ASSERT_EQ("uavcan.equipment.gnss.Fix", gdti_cln.collector.result->response.name);
ASSERT_EQ(0, gdti_cln.collector.result->response.id);
ASSERT_EQ(0, gdti_cln.collector.result->response.kind.value);
/*
* ComputeAggregateTypeSignature test