fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-14 17:40:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added IAdHocNodeStatusUpdater

Browse Source
This commit is contained in:
Pavel Kirienko
2018-01-02 11:32:35 +02:00
parent 0066382ff5
commit da34eae9c4
3 changed files with 79 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/test/protocol/node_status_provider.cpp
+34
View File
@@ -7,6 +7,19 @@
#include "helpers.hpp"
struct AdHocNodeStatusUpdater : public uavcan::IAdHocNodeStatusUpdater
{
uavcan::uint64_t invokations;
AdHocNodeStatusUpdater() : invokations(0) { }
virtual void updateNodeStatus()
{
invokations++;
}
};
TEST(NodeStatusProvider, Basic)
{
InterlinkedTestNodesWithSysClock nodes;
@@ -60,6 +73,11 @@ TEST(NodeStatusProvider, Basic)
ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MAX_BROADCASTING_PERIOD_MS),
nsp.getStatusPublicationPeriod());
AdHocNodeStatusUpdater ad_hoc;
ASSERT_EQ(UAVCAN_NULLPTR, nsp.getAdHocNodeStatusUpdater());
nsp.setAdHocNodeStatusUpdater(&ad_hoc);
ASSERT_EQ(&ad_hoc, nsp.getAdHocNodeStatusUpdater());
/*
* Initial status publication
*/
@@ -75,6 +93,8 @@ TEST(NodeStatusProvider, Basic)
ASSERT_EQ(0, status_sub.collector.msg->vendor_specific_status_code);
ASSERT_GE(1, status_sub.collector.msg->uptime_sec);
ASSERT_EQ(0, ad_hoc.invokations); // Not invoked from startAndPublish()
/*
* Altering the vendor-specific status code, forcePublish()-ing it and checking the result
*/
@@ -90,6 +110,8 @@ TEST(NodeStatusProvider, Basic)
ASSERT_EQ(1234, status_sub.collector.msg->vendor_specific_status_code);
ASSERT_GE(1, status_sub.collector.msg->uptime_sec);
ASSERT_EQ(0, ad_hoc.invokations); // Not invoked from forcePublish()
/*
* Explicit node info request
*/
@@ -113,4 +135,16 @@ TEST(NodeStatusProvider, Basic)
ASSERT_TRUE(swver == gni_cln.collector.result->getResponse().software_version);
ASSERT_EQ("superluminal_communication_unit", gni_cln.collector.result->getResponse().name);
ASSERT_EQ(0, ad_hoc.invokations); // No timer-triggered publications happened yet
/*
* Timer triggered publication
*/
EXPECT_EQ(3, nodes.a.getDispatcher().getTransferPerfCounter().getTxTransferCount());
nodes.spinBoth(nsp.getStatusPublicationPeriod());
EXPECT_EQ(1, ad_hoc.invokations); // No timer-triggered publications happened yet
EXPECT_EQ(4, nodes.a.getDispatcher().getTransferPerfCounter().getTxTransferCount());
}