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Proper priority comparison for CAN frames of different types

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This commit is contained in:
Pavel Kirienko
2014-03-31 00:32:52 +04:00
parent fc4d54ed86
commit d2b3832860
3 changed files with 103 additions and 10 deletions
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libuavcan/test/transport/can/can_driver.cpp
+57
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@@ -21,6 +21,63 @@ TEST(CanFrame, FrameProperties)
EXPECT_TRUE(frame.isErrorFrame());
}
TEST(CanFrame, Arbitration)
{
using uavcan::CanFrame;
CanFrame a;
CanFrame b;
/*
* Simple
*/
a.id = 123;
b.id = 122;
ASSERT_TRUE(a.priorityLowerThan(b));
ASSERT_TRUE(b.priorityHigherThan(a));
a.id = 123 | CanFrame::FlagEFF;
b.id = 122 | CanFrame::FlagEFF;
ASSERT_TRUE(a.priorityLowerThan(b));
ASSERT_TRUE(b.priorityHigherThan(a));
a.id = 8;
b.id = 8;
ASSERT_FALSE(a.priorityLowerThan(b));
ASSERT_FALSE(b.priorityHigherThan(a));
/*
* EXT vs STD
*/
a.id = 1000; // 1000
b.id = 2000 | CanFrame::FlagEFF; // 2000 >> 18, wins
ASSERT_TRUE(a.priorityLowerThan(b));
ASSERT_TRUE(b.priorityHigherThan(a));
a.id = 0x400;
b.id = 0x10000000 | CanFrame::FlagEFF; // (0x400 << 18), 11 most significant bits are the same --> EFF loses
ASSERT_TRUE(a.priorityHigherThan(b));
ASSERT_TRUE(b.priorityLowerThan(a));
/*
* RTR vs Data
*/
a.id = 123 | CanFrame::FlagRTR; // On the same ID, RTR loses
b.id = 123;
ASSERT_TRUE(a.priorityLowerThan(b));
ASSERT_TRUE(b.priorityHigherThan(a));
a.id = CanFrame::MaskStdID | CanFrame::FlagRTR; // RTR is STD, so it wins
b.id = CanFrame::MaskExtID | CanFrame::FlagEFF; // Lowest possible priority for data frame
ASSERT_TRUE(a.priorityHigherThan(b));
ASSERT_TRUE(b.priorityLowerThan(a));
a.id = 123 | CanFrame::FlagRTR; // Both RTR arbitrate as usually
b.id = 122 | CanFrame::FlagRTR;
ASSERT_TRUE(a.priorityLowerThan(b));
ASSERT_TRUE(b.priorityHigherThan(a));
}
TEST(CanFrame, ToString)
{
uavcan::CanFrame frame = makeCanFrame(123, "\x01\x02\x03\x04" "1234", EXT);