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Improved test of ServiceClient<>

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This commit is contained in:
Pavel Kirienko
2015-05-16 21:25:27 +03:00
parent 90d60688b3
commit dbf3d1622e
1 changed files with 27 additions and 4 deletions
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libuavcan/test/node/service_client.cpp
+27 -4
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@@ -33,10 +33,18 @@ struct ServiceCallResultHandler
bool match(StatusType status, uavcan::NodeID server_node_id, const typename DataType::Response& response) const
{
return
status == last_status &&
if (status == last_status &&
server_node_id == last_server_node_id &&
response == last_response;
response == last_response)
{
return true;
}
else
{
std::cout << "MISMATCH: status=" << last_status << ", last_server_node_id="
<< int(last_server_node_id.get()) << ", last response:\n" << last_response << std::endl;
return false;
}
}
typedef uavcan::MethodBinder<ServiceCallResultHandler*,
@@ -94,6 +102,10 @@ TEST(ServiceClient, Basic)
ClientType client2(nodes.b);
ClientType client3(nodes.b);
ASSERT_EQ(0, client1.getNumPendingCalls());
ASSERT_EQ(0, client2.getNumPendingCalls());
ASSERT_EQ(0, client3.getNumPendingCalls());
client1.setCallback(handler.bind());
client2.setCallback(client1.getCallback());
client3.setCallback(client1.getCallback());
@@ -108,8 +120,10 @@ TEST(ServiceClient, Basic)
std::cout << "!!! Calling!" << std::endl;
ASSERT_LT(0, client1.call(1, request)); // OK
ASSERT_LT(0, client1.call(1, request)); // OK - second request
ASSERT_LT(0, client2.call(1, request)); // OK
ASSERT_LT(0, client3.call(99, request)); // Will timeout!
ASSERT_LT(0, client3.call(1, request)); // OK - second request
std::cout << "!!! Spinning!" << std::endl;
@@ -119,6 +133,10 @@ TEST(ServiceClient, Basic)
ASSERT_TRUE(client2.hasPendingCalls());
ASSERT_TRUE(client3.hasPendingCalls());
ASSERT_EQ(2, client1.getNumPendingCalls());
ASSERT_EQ(1, client2.getNumPendingCalls());
ASSERT_EQ(2, client3.getNumPendingCalls());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(20));
std::cout << "!!! Spin finished!" << std::endl;
@@ -129,6 +147,10 @@ TEST(ServiceClient, Basic)
ASSERT_FALSE(client2.hasPendingCalls());
ASSERT_TRUE(client3.hasPendingCalls());
ASSERT_EQ(0, client1.getNumPendingCalls());
ASSERT_EQ(0, client2.getNumPendingCalls());
ASSERT_EQ(1, client3.getNumPendingCalls()); // The one addressed to 99 is still waiting
// Validating
root_ns_a::StringService::Response expected_response;
expected_response.string_response = "Request string: Hello world";
@@ -143,7 +165,8 @@ TEST(ServiceClient, Basic)
ASSERT_EQ(0, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Third has timed out :(
// Validating
ASSERT_TRUE(handler.match(ResultType::ErrorTimeout, 99, root_ns_a::StringService::Response()));
// 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));
// Stray request
ASSERT_LT(0, client3.call(99, request)); // Will timeout!