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Renaming: NodeInitializer --> NetworkCompatibilityChecker

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This commit is contained in:
Pavel Kirienko 2014-04-12 21:40:30 +04:00
parent d8c37584c0
commit dd5908dad8
8 changed files with 51 additions and 49 deletions
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118
libuavcan/test/protocol/network_compat_checker.cpp Normal file
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/*
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <gtest/gtest.h>
#include <uavcan/protocol/network_compat_checker.hpp>
#include <uavcan/protocol/node_status_provider.hpp>
#include <uavcan/protocol/data_type_info_provider.hpp>
#include <uavcan/protocol/GlobalDiscoveryRequest.hpp>
#include <memory>
#include "helpers.hpp"
static void registerTypes()
{
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GlobalDiscoveryRequest> _reg1;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg2;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::ComputeAggregateTypeSignature> _reg3;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg4;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetDataTypeInfo> _reg5;
}
struct NodeInitializerRemoteContext
{
uavcan::NodeStatusProvider node_status_provider;
uavcan::DataTypeInfoProvider data_type_info_provider;
NodeInitializerRemoteContext(uavcan::INode& node)
: node_status_provider(node)
, data_type_info_provider(node)
{
node_status_provider.setName("com.example");
uavcan::protocol::SoftwareVersion swver;
swver.build = 1;
node_status_provider.setSoftwareVersion(swver);
}
void start()
{
ASSERT_LE(0, node_status_provider.startAndPublish());
ASSERT_LE(0, data_type_info_provider.start());
}
};
TEST(NetworkCompatibilityChecker, Size)
{
// Objects are subject for stack allocation, hence the size matters
std::cout << "sizeof(uavcan::NetworkCompatibilityChecker): "
<< sizeof(uavcan::NetworkCompatibilityChecker) << std::endl;
ASSERT_TRUE(sizeof(uavcan::NetworkCompatibilityChecker) < 2048);
}
TEST(NetworkCompatibilityChecker, EmptyNetwork)
{
registerTypes();
InterlinkedTestNodesWithSysClock nodes;
ASSERT_LE(0, uavcan::NetworkCompatibilityChecker::publishGlobalDiscoveryRequest(nodes.a));
uavcan::NetworkCompatibilityChecker ni(nodes.a);
ASSERT_LE(0, ni.execute());
ASSERT_TRUE(ni.getResult().isOk());
}
TEST(NetworkCompatibilityChecker, Success)
{
registerTypes();
InterlinkedTestNodesWithSysClock nodes;
NodeInitializerRemoteContext remote(nodes.b);
remote.start();
BackgroundSpinner bgspinner(nodes.b, nodes.a);
bgspinner.startPeriodic(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_LE(0, uavcan::NetworkCompatibilityChecker::publishGlobalDiscoveryRequest(nodes.a));
uavcan::NetworkCompatibilityChecker ni(nodes.a);
ASSERT_LE(0, ni.execute());
ASSERT_TRUE(ni.getResult().isOk());
}
TEST(NetworkCompatibilityChecker, RequestTimeout)
{
registerTypes();
InterlinkedTestNodesWithSysClock nodes;
NodeInitializerRemoteContext remote(nodes.b);
remote.start();
ASSERT_LE(0, uavcan::NetworkCompatibilityChecker::publishGlobalDiscoveryRequest(nodes.a));
uavcan::NetworkCompatibilityChecker ni(nodes.a);
ASSERT_GT(0, ni.execute()); // There is no background spinner, so CATS request will time out
}
TEST(NetworkCompatibilityChecker, NodeIDCollision)
{
registerTypes();
InterlinkedTestNodesWithSysClock nodes(8, 8); // Same NID
NodeInitializerRemoteContext remote(nodes.b);
remote.start();
BackgroundSpinner bgspinner(nodes.b, nodes.a);
bgspinner.startPeriodic(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_LE(0, uavcan::NetworkCompatibilityChecker::publishGlobalDiscoveryRequest(nodes.a));
uavcan::NetworkCompatibilityChecker ni(nodes.a);
ASSERT_LE(0, ni.execute());
ASSERT_FALSE(ni.getResult().isOk());
ASSERT_EQ(8, ni.getResult().conflicting_node.get());
}