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Using global RX object buffer

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This commit is contained in:
Pavel Kirienko
2015-05-29 16:47:02 +03:00
parent d4e49d518a
commit d20f8e7356
7 changed files with 152 additions and 46 deletions
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libuavcan/test/node/service_client.cpp
+3 -4
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@@ -178,8 +178,7 @@ TEST(ServiceClient, Basic)
ASSERT_EQ(0, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Third has timed out :(
// Validating
// We use expected response instead of empty response because the last valid will be reused on fauilure
ASSERT_TRUE(handler.match(ResultType::ErrorTimeout, 99, expected_response));
ASSERT_TRUE(handler.match(ResultType::ErrorTimeout, 99, root_ns_a::StringService::Response()));
// Stray request
ASSERT_LT(0, client3.call(99, request)); // Will timeout!
@@ -341,7 +340,7 @@ TEST(ServiceClient, ConcurrentCalls)
ASSERT_EQ(1, client.getNumPendingCalls()); // One dropped
ASSERT_EQ(1, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Still listening
ASSERT_TRUE(handler.match(ResultType::ErrorTimeout, 88, last_response));
ASSERT_TRUE(handler.match(ResultType::ErrorTimeout, 88, root_ns_a::StringService::Response()));
/*
* Validating the 500 ms timeout
@@ -352,7 +351,7 @@ TEST(ServiceClient, ConcurrentCalls)
ASSERT_EQ(0, client.getNumPendingCalls()); // All finished
ASSERT_EQ(0, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Not listening
ASSERT_TRUE(handler.match(ResultType::ErrorTimeout, 99, last_response));
ASSERT_TRUE(handler.match(ResultType::ErrorTimeout, 99, root_ns_a::StringService::Response()));
}
libuavcan/test/protocol/data_type_info_provider.cpp
+2 -1
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@@ -19,7 +19,8 @@ using uavcan::DefaultDataTypeRegistrator;
using uavcan::MonotonicDuration;
template <typename DataType>
static bool validateDataTypeInfoResponse(const std::auto_ptr<ServiceCallResult<GetDataTypeInfo> >& resp, unsigned mask)
static bool validateDataTypeInfoResponse(const std::auto_ptr<ServiceCallResultCollector<GetDataTypeInfo>::Result>& resp,
unsigned mask)
{
if (!resp.get())
{
libuavcan/test/protocol/helpers.hpp
+34 -5
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@@ -51,18 +51,47 @@ struct SubscriberWithCollector
template <typename DataType>
class ServiceCallResultCollector : uavcan::Noncopyable
{
typedef uavcan::ServiceCallResult<DataType> ResultType;
typedef uavcan::ServiceCallResult<DataType> ServiceCallResult;
void handler(const ResultType& result)
public:
class Result
{
this->result.reset(new ResultType(result));
const typename ServiceCallResult::Status status_;
uavcan::ServiceCallID call_id_;
typename DataType::Response response_;
public:
Result(typename ServiceCallResult::Status arg_status,
uavcan::ServiceCallID arg_call_id,
const typename DataType::Response& arg_response)
: status_(arg_status)
, call_id_(arg_call_id)
, response_(arg_response)
{ }
bool isSuccessful() const { return status_ == ServiceCallResult::Success; }
typename ServiceCallResult::Status getStatus() const { return status_; }
uavcan::ServiceCallID getCallID() const { return call_id_; }
const typename DataType::Response& getResponse() const { return response_; }
typename DataType::Response& getResponse() { return response_; }
};
private:
void handler(const uavcan::ServiceCallResult<DataType>& tmp_result)
{
std::cout << tmp_result << std::endl;
result.reset(new Result(tmp_result.getStatus(), tmp_result.getCallID(), tmp_result.getResponse()));
}
public:
std::auto_ptr<ResultType> result;
std::auto_ptr<Result> result;
typedef uavcan::MethodBinder<ServiceCallResultCollector*,
void (ServiceCallResultCollector::*)(const ResultType&)> Binder;
void (ServiceCallResultCollector::*)(const uavcan::ServiceCallResult<DataType>&)>
Binder;
Binder bind() { return Binder(this, &ServiceCallResultCollector::handler); }
};