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Further test refactoring: data type descriptor moved to transfer object

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This commit is contained in:
Pavel Kirienko
2014-02-18 14:14:55 +04:00
parent 7039711027
commit cd2a13c60d
3 changed files with 42 additions and 31 deletions
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libuavcan/test/transport/transfer_listener.cpp
+12 -5
View File
@@ -9,15 +9,22 @@
class Emulator : public IncomingTransferEmulatorBase
{
uavcan::TransferListenerBase& target_;
const uavcan::DataTypeDescriptor data_type_;
public:
Emulator(uavcan::TransferListenerBase& target, const uavcan::DataTypeDescriptor& type,
uavcan::NodeID dst_node_id = 127)
: IncomingTransferEmulatorBase(type, dst_node_id)
: IncomingTransferEmulatorBase(dst_node_id)
, target_(target)
, data_type_(type)
{ }
void sendOneFrame(const uavcan::RxFrame& frame) { target_.handleFrame(frame); }
Transfer makeTransfer(uavcan::TransferType transfer_type, uint8_t source_node_id, const std::string& payload)
{
return IncomingTransferEmulatorBase::makeTransfer(transfer_type, source_node_id, payload, data_type_);
}
};
@@ -94,8 +101,8 @@ TEST(TransferListener, CrcFailure)
const Transfer tr_mft = emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 42, "123456789abcdefghik");
const Transfer tr_sft = emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_UNICAST, 11, "abcd");
std::vector<uavcan::RxFrame> ser_mft = serializeTransfer(tr_mft, type);
std::vector<uavcan::RxFrame> ser_sft = serializeTransfer(tr_sft, type);
std::vector<uavcan::RxFrame> ser_mft = serializeTransfer(tr_mft);
std::vector<uavcan::RxFrame> ser_sft = serializeTransfer(tr_sft);
ASSERT_TRUE(ser_mft.size() > 1);
ASSERT_TRUE(ser_sft.size() == 1);
@@ -176,8 +183,8 @@ TEST(TransferListener, Cleanup)
const Transfer tr_mft = emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 42, "123456789abcdefghik");
const Transfer tr_sft = emulator.makeTransfer(uavcan::TRANSFER_TYPE_MESSAGE_UNICAST, 11, "abcd");
const std::vector<uavcan::RxFrame> ser_mft = serializeTransfer(tr_mft, type);
const std::vector<uavcan::RxFrame> ser_sft = serializeTransfer(tr_sft, type);
const std::vector<uavcan::RxFrame> ser_mft = serializeTransfer(tr_mft);
const std::vector<uavcan::RxFrame> ser_sft = serializeTransfer(tr_sft);
ASSERT_TRUE(ser_mft.size() > 1);
ASSERT_TRUE(ser_sft.size() == 1);
libuavcan/test/transport/transfer_test_helpers.cpp
+11 -11
View File
@@ -25,7 +25,7 @@ TEST(TransferTestHelpers, Transfer)
tba.access()->write(0, reinterpret_cast<const uint8_t*>(TEST_DATA.c_str()), TEST_DATA.length()));
// Reading back
const Transfer transfer(mfit);
const Transfer transfer(mfit, uavcan::DataTypeDescriptor());
ASSERT_EQ(TEST_DATA, transfer.payload);
}
@@ -37,9 +37,9 @@ TEST(TransferTestHelpers, MFTSerialization)
type.hash.value[i] = i;
static const std::string DATA = "To go wrong in one's own way is better than to go right in someone else's.";
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_MESSAGE_UNICAST, 2, 42, 127, DATA);
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_MESSAGE_UNICAST, 2, 42, 127, DATA, type);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, type);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer);
std::cout << "Serialized transfer:\n";
for (std::vector<uavcan::RxFrame>::const_iterator it = ser.begin(); it != ser.end(); ++it)
@@ -68,26 +68,26 @@ TEST(TransferTestHelpers, SFTSerialization)
type.hash.value[i] = i;
{
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 7, 42, 0, "Nvrfrget");
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, type);
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 7, 42, 0, "Nvrfrget", type);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
}
{
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_SERVICE_REQUEST, 7, 42, 127, "7-chars");
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, type);
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_SERVICE_REQUEST, 7, 42, 127, "7-chars", type);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
}
{
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 7, 42, 0, "");
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, type);
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, 7, 42, 0, "", type);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
}
{
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_SERVICE_RESPONSE, 7, 42, 127, "");
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer, type);
const Transfer transfer(1, 100000, uavcan::TRANSFER_TYPE_SERVICE_RESPONSE, 7, 42, 127, "", type);
const std::vector<uavcan::RxFrame> ser = serializeTransfer(transfer);
ASSERT_EQ(1, ser.size());
std::cout << "Serialized transfer:\n\t" << ser[0].toString() << "\n";
}
libuavcan/test/transport/transfer_test_helpers.hpp
+19 -15
View File
@@ -10,7 +10,9 @@
#include <gtest/gtest.h>
#include <uavcan/internal/transport/transfer_listener.hpp>
/**
* UAVCAN transfer representation used in various tests.
*/
struct Transfer
{
uint64_t ts_monotonic;
@@ -19,15 +21,17 @@ struct Transfer
uavcan::TransferID transfer_id;
uavcan::NodeID src_node_id;
uavcan::NodeID dst_node_id;
uavcan::DataTypeDescriptor data_type;
std::string payload;
Transfer(const uavcan::IncomingTransfer& tr)
Transfer(const uavcan::IncomingTransfer& tr, const uavcan::DataTypeDescriptor& data_type)
: ts_monotonic(tr.getMonotonicTimestamp())
, ts_utc(tr.getUtcTimestamp())
, transfer_type(tr.getTransferType())
, transfer_id(tr.getTransferID())
, src_node_id(tr.getSrcNodeID())
, dst_node_id() // default is invalid
, data_type(data_type)
{
unsigned int offset = 0;
while (true)
@@ -48,13 +52,14 @@ struct Transfer
Transfer(uint64_t ts_monotonic, uint64_t ts_utc, uavcan::TransferType transfer_type,
uavcan::TransferID transfer_id, uavcan::NodeID src_node_id, uavcan::NodeID dst_node_id,
const std::string& payload)
const std::string& payload, const uavcan::DataTypeDescriptor& data_type)
: ts_monotonic(ts_monotonic)
, ts_utc(ts_utc)
, transfer_type(transfer_type)
, transfer_id(transfer_id)
, src_node_id(src_node_id)
, dst_node_id(dst_node_id)
, data_type(data_type)
, payload(payload)
{ }
@@ -103,7 +108,7 @@ public:
void handleIncomingTransfer(uavcan::IncomingTransfer& transfer)
{
const Transfer rx(transfer);
const Transfer rx(transfer, *Base::getDataTypeDescriptor());
transfers_.push(rx);
std::cout << "Received transfer: " << rx.toString() << std::endl;
}
@@ -137,7 +142,7 @@ public:
namespace
{
std::vector<uavcan::RxFrame> serializeTransfer(const Transfer& transfer, const uavcan::DataTypeDescriptor& type)
std::vector<uavcan::RxFrame> serializeTransfer(const Transfer& transfer)
{
bool need_crc = false;
switch (transfer.transfer_type)
@@ -158,7 +163,7 @@ std::vector<uavcan::RxFrame> serializeTransfer(const Transfer& transfer, const u
std::vector<uint8_t> raw_payload;
if (need_crc)
{
uavcan::Crc16 payload_crc(type.hash.value, uavcan::DataTypeHash::NUM_BYTES);
uavcan::Crc16 payload_crc(transfer.data_type.hash.value, uavcan::DataTypeHash::NUM_BYTES);
payload_crc.add(reinterpret_cast<const uint8_t*>(transfer.payload.c_str()), transfer.payload.length());
// Little endian
raw_payload.push_back(payload_crc.get() & 0xFF);
@@ -177,8 +182,8 @@ std::vector<uavcan::RxFrame> serializeTransfer(const Transfer& transfer, const u
const int bytes_left = raw_payload.size() - offset;
EXPECT_TRUE(bytes_left >= 0);
uavcan::Frame frm(type.id, transfer.transfer_type, transfer.src_node_id, transfer.dst_node_id, frame_index,
transfer.transfer_id);
uavcan::Frame frm(transfer.data_type.id, transfer.transfer_type, transfer.src_node_id, transfer.dst_node_id,
frame_index, transfer.transfer_id);
const int spres = frm.setPayload(&*(raw_payload.begin() + offset), bytes_left);
if (spres < 0)
{
@@ -208,26 +213,25 @@ std::vector<uavcan::RxFrame> serializeTransfer(const Transfer& transfer, const u
class IncomingTransferEmulatorBase
{
const uavcan::DataTypeDescriptor type_;
uint64_t ts_;
uavcan::TransferID tid_;
uavcan::NodeID dst_node_id_;
public:
IncomingTransferEmulatorBase(const uavcan::DataTypeDescriptor& type, uavcan::NodeID dst_node_id = 127)
: type_(type)
, ts_(0)
IncomingTransferEmulatorBase(uavcan::NodeID dst_node_id)
: ts_(0)
, dst_node_id_(dst_node_id)
{ }
virtual ~IncomingTransferEmulatorBase() { }
Transfer makeTransfer(uavcan::TransferType transfer_type, uint8_t source_node_id, const std::string& payload)
Transfer makeTransfer(uavcan::TransferType transfer_type, uint8_t source_node_id, const std::string& payload,
const uavcan::DataTypeDescriptor& type)
{
ts_ += 100;
const uavcan::NodeID dst_node_id = (transfer_type == uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST)
? uavcan::NodeID::BROADCAST : dst_node_id_;
const Transfer tr(ts_, ts_ + 1000000000ul, transfer_type, tid_, source_node_id, dst_node_id, payload);
const Transfer tr(ts_, ts_ + 1000000000ul, transfer_type, tid_, source_node_id, dst_node_id, payload, type);
tid_.increment();
return tr;
}
@@ -259,7 +263,7 @@ public:
{
std::vector<std::vector<uavcan::RxFrame> > sers;
while (num_transfers--)
sers.push_back(serializeTransfer(*transfers++, type_));
sers.push_back(serializeTransfer(*transfers++));
send(sers);
}