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DataTypeDescriptor got name_

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This commit is contained in:
Pavel Kirienko
2014-02-27 09:29:58 +04:00
parent bc54015265
commit d71ec29fcf
11 changed files with 87 additions and 40 deletions
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libuavcan/test/data_type.cpp
+11
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@@ -91,3 +91,14 @@ TEST(DataTypeSignature, Correctness)
ASSERT_FALSE(signature != DataTypeSignature(signature.get()));
ASSERT_TRUE(signature != DataTypeSignature::zero());
}
TEST(DataTypeDescriptor, ToString)
{
uavcan::DataTypeDescriptor desc;
ASSERT_EQ(":0s:0000000000000000", desc.toString());
desc = uavcan::DataTypeDescriptor(uavcan::DataTypeKindMessage, 123,
uavcan::DataTypeSignature(0xdeadbeef1234), "Bar");
ASSERT_EQ("Bar:123m:0000deadbeef1234", desc.toString());
}
libuavcan/test/transport/transfer_listener.cpp
+5 -5
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@@ -30,7 +30,7 @@ public:
TEST(TransferListener, BasicMFT)
{
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "A");
static const int NUM_POOL_BLOCKS = 12; // This number is just enough to pass the test
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * NUM_POOL_BLOCKS, uavcan::MemPoolBlockSize> pool;
@@ -85,7 +85,7 @@ TEST(TransferListener, BasicMFT)
TEST(TransferListener, CrcFailure)
{
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "A");
uavcan::PoolManager<1> poolmgr; // No dynamic memory
TestSubscriber<256, 2, 2> subscriber(type, poolmgr); // Static buffer only, 2 entries
@@ -128,7 +128,7 @@ TEST(TransferListener, CrcFailure)
TEST(TransferListener, BasicSFT)
{
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "A");
uavcan::PoolManager<1> poolmgr; // No dynamic memory. At all.
TestSubscriber<0, 0, 5> subscriber(type, poolmgr); // Max buf size is 0, i.e. SFT-only
@@ -163,7 +163,7 @@ TEST(TransferListener, BasicSFT)
TEST(TransferListener, Cleanup)
{
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "A");
uavcan::PoolManager<1> poolmgr; // No dynamic memory
TestSubscriber<256, 1, 2> subscriber(type, poolmgr); // Static buffer only, 1 entry
@@ -217,7 +217,7 @@ TEST(TransferListener, Cleanup)
TEST(TransferListener, MaximumTransferLength)
{
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "A");
uavcan::PoolManager<1> poolmgr;
TestSubscriber<uavcan::MaxTransferPayloadLen * 2, 2, 2> subscriber(type, poolmgr);
libuavcan/test/transport/transfer_test_helpers.cpp
+2 -2
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@@ -32,7 +32,7 @@ TEST(TransferTestHelpers, Transfer)
TEST(TransferTestHelpers, MFTSerialization)
{
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "Foo");
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::TransferTypeMessageUnicast, 2, 42, 127, DATA, type);
@@ -61,7 +61,7 @@ TEST(TransferTestHelpers, MFTSerialization)
TEST(TransferTestHelpers, SFTSerialization)
{
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "Foo");
{
const Transfer transfer(1, 100000, uavcan::TransferTypeMessageBroadcast, 7, 42, 0, "Nvrfrget", type);
libuavcan/test/transport/transfer_test_helpers.hpp
+6 -6
View File
@@ -85,7 +85,7 @@ struct Transfer
<< " tid=" << int(transfer_id.get())
<< " snid=" << int(src_node_id.get())
<< " dnid=" << int(dst_node_id.get())
<< " dtid=" << int(data_type.id)
<< " dtid=" << int(data_type.getID())
<< "\n\t'" << payload << "'";
return os.str();
}
@@ -165,7 +165,7 @@ std::vector<uavcan::RxFrame> serializeTransfer(const Transfer& transfer)
std::vector<uint8_t> raw_payload;
if (need_crc)
{
uavcan::TransferCRC payload_crc = transfer.data_type.signature.toTransferCRC();
uavcan::TransferCRC payload_crc = transfer.data_type.getSignature().toTransferCRC();
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);
@@ -184,8 +184,8 @@ std::vector<uavcan::RxFrame> serializeTransfer(const Transfer& transfer)
const int bytes_left = raw_payload.size() - offset;
EXPECT_TRUE(bytes_left >= 0);
uavcan::Frame frm(transfer.data_type.id, transfer.transfer_type, transfer.src_node_id, transfer.dst_node_id,
frame_index, transfer.transfer_id);
uavcan::Frame frm(transfer.data_type.getID(), 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)
{
@@ -210,10 +210,10 @@ std::vector<uavcan::RxFrame> serializeTransfer(const Transfer& transfer)
return output;
}
uavcan::DataTypeDescriptor makeDataType(uavcan::DataTypeKind kind, uint16_t id)
uavcan::DataTypeDescriptor makeDataType(uavcan::DataTypeKind kind, uint16_t id, const char* name = "")
{
const uavcan::DataTypeSignature signature((uint64_t(kind) << 16) | (id << 8) | (id & 0xFF));
return uavcan::DataTypeDescriptor(kind, id, signature);
return uavcan::DataTypeDescriptor(kind, id, signature, name);
}
}