From e063556567b9060037ba74f6d23831da7232f516 Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Wed, 8 Jul 2015 23:54:11 +0300 Subject: [PATCH] All tests are passing --- .../include/uavcan/protocol/node_status_monitor.hpp | 2 +- .../test/dsdl_test/dsdl_uavcan_compilability.cpp | 4 +++- libuavcan/test/protocol/node_status_monitor.cpp | 12 ++++++------ libuavcan/test/protocol/node_status_provider.cpp | 4 ++-- 4 files changed, 12 insertions(+), 10 deletions(-) diff --git a/libuavcan/include/uavcan/protocol/node_status_monitor.hpp b/libuavcan/include/uavcan/protocol/node_status_monitor.hpp index 85bb692280..db563085d3 100644 --- a/libuavcan/include/uavcan/protocol/node_status_monitor.hpp +++ b/libuavcan/include/uavcan/protocol/node_status_monitor.hpp @@ -29,7 +29,7 @@ public: uint8_t sub_mode : 3; NodeStatus() : - health(protocol::NodeStatus::HEALTH_OK), + health(protocol::NodeStatus::HEALTH_CRITICAL), mode(protocol::NodeStatus::MODE_OFFLINE), sub_mode(0) { diff --git a/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp b/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp index df60884722..f7b7bdd2b8 100644 --- a/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp +++ b/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp @@ -35,7 +35,9 @@ TEST(Dsdl, Streaming) static const std::string Reference = "status: \n" " uptime_sec: 0\n" - " status_code: 0\n" + " health: 0\n" + " mode: 0\n" + " sub_mode: 0\n" " vendor_specific_status_code: 0\n" "software_version: \n" " major: 0\n" diff --git a/libuavcan/test/protocol/node_status_monitor.cpp b/libuavcan/test/protocol/node_status_monitor.cpp index 5c3e962e5c..2655ac23bc 100644 --- a/libuavcan/test/protocol/node_status_monitor.cpp +++ b/libuavcan/test/protocol/node_status_monitor.cpp @@ -111,11 +111,11 @@ TEST(NodeStatusMonitor, Basic) ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(10))); ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(10)).mode); - ASSERT_EQ(NodeStatus::HEALTH_OK, nsm.getNodeStatus(uavcan::NodeID(10)).health); + ASSERT_EQ(NodeStatus::HEALTH_CRITICAL, nsm.getNodeStatus(uavcan::NodeID(10)).health); ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(9))); ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(9)).mode); - ASSERT_EQ(NodeStatus::HEALTH_WARNING, nsm.getNodeStatus(uavcan::NodeID(9)).health); + ASSERT_EQ(NodeStatus::HEALTH_CRITICAL, nsm.getNodeStatus(uavcan::NodeID(9)).health); ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(11))); ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(11)).mode); @@ -143,11 +143,11 @@ TEST(NodeStatusMonitor, Basic) */ ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(10))); ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(10)).mode); - ASSERT_EQ(NodeStatus::HEALTH_OK, nsm.getNodeStatus(uavcan::NodeID(10)).health); + ASSERT_EQ(NodeStatus::HEALTH_CRITICAL, nsm.getNodeStatus(uavcan::NodeID(10)).health); ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(9))); ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(9)).mode); - ASSERT_EQ(NodeStatus::HEALTH_WARNING, nsm.getNodeStatus(uavcan::NodeID(9)).health); + ASSERT_EQ(NodeStatus::HEALTH_CRITICAL, nsm.getNodeStatus(uavcan::NodeID(9)).health); ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(11))); ASSERT_EQ(NodeStatus::MODE_OPERATIONAL, nsm.getNodeStatus(uavcan::NodeID(11)).mode); @@ -167,10 +167,10 @@ TEST(NodeStatusMonitor, Basic) nsm.forgetNode(127); ASSERT_FALSE(nsm.isNodeKnown(uavcan::NodeID(127))); ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(127)).mode); - ASSERT_EQ(NodeStatus::HEALTH_OK, nsm.getNodeStatus(uavcan::NodeID(127)).health); + ASSERT_EQ(NodeStatus::HEALTH_CRITICAL, nsm.getNodeStatus(uavcan::NodeID(127)).health); nsm.forgetNode(9); ASSERT_FALSE(nsm.isNodeKnown(uavcan::NodeID(9))); ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(9)).mode); - ASSERT_EQ(NodeStatus::HEALTH_OK, nsm.getNodeStatus(uavcan::NodeID(9)).health); + ASSERT_EQ(NodeStatus::HEALTH_CRITICAL, nsm.getNodeStatus(uavcan::NodeID(9)).health); } diff --git a/libuavcan/test/protocol/node_status_provider.cpp b/libuavcan/test/protocol/node_status_provider.cpp index f8b4e59619..51c455a97b 100644 --- a/libuavcan/test/protocol/node_status_provider.cpp +++ b/libuavcan/test/protocol/node_status_provider.cpp @@ -71,7 +71,7 @@ TEST(NodeStatusProvider, Basic) nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10)); ASSERT_TRUE(status_sub.collector.msg.get()); // Was published at startup - ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_OK, status_sub.collector.msg->health); + ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_ERROR, status_sub.collector.msg->health); ASSERT_EQ(0, status_sub.collector.msg->vendor_specific_status_code); ASSERT_GE(1, status_sub.collector.msg->uptime_sec); @@ -86,7 +86,7 @@ TEST(NodeStatusProvider, Basic) nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10)); - ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_OK, status_sub.collector.msg->health); + ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_ERROR, status_sub.collector.msg->health); ASSERT_EQ(1234, status_sub.collector.msg->vendor_specific_status_code); ASSERT_GE(1, status_sub.collector.msg->uptime_sec);