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PanicBroadcaster

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Pavel Kirienko
2014-03-19 12:25:49 +04:00
parent b353c5b9d8
commit ce9c0b6dbe
4 changed files with 151 additions and 3 deletions
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libuavcan/test/protocol/panic_broadcaster.cpp
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/*
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <gtest/gtest.h>
#include <uavcan/protocol/panic_broadcaster.hpp>
#include "helpers.hpp"
TEST(PanicBroadcaster, Basic)
{
InterlinkedTestNodes nodes;
uavcan::PanicBroadcaster panicker(nodes.a);
SubscriberWithCollector<uavcan::protocol::Panic> sub(nodes.b);
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::Panic> _reg1;
ASSERT_LE(0, sub.start());
panicker.panic("I lost my towel!"); // Only the first 7 chars allowed
ASSERT_STREQ("I lost ", panicker.getReason().c_str());
ASSERT_TRUE(panicker.isPanicking());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2));
ASSERT_TRUE(sub.collector.msg.get());
ASSERT_STREQ("I lost ", sub.collector.msg->reason_text.c_str());
sub.collector.msg.reset();
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(300));
ASSERT_TRUE(sub.collector.msg.get());
ASSERT_STREQ("I lost ", sub.collector.msg->reason_text.c_str());
sub.collector.msg.reset();
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(300));
ASSERT_TRUE(sub.collector.msg.get());
ASSERT_STREQ("I lost ", sub.collector.msg->reason_text.c_str());
sub.collector.msg.reset();
panicker.dontPanic();
ASSERT_FALSE(panicker.isPanicking());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(300));
ASSERT_FALSE(sub.collector.msg.get());
}