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Added slave time sync suppression, which allows to use slave and master on the same node. Shall be documented later.

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This commit is contained in:
Pavel Kirienko
2014-04-01 17:35:32 +04:00
parent 2dc8525823
commit e2fa613917
3 changed files with 45 additions and 1 deletions
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libuavcan/test/protocol/global_time_sync_slave.cpp
+36
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@@ -274,3 +274,39 @@ TEST(GlobalTimeSyncSlave, Validation)
ASSERT_EQ(5000, slave_clock.utc);
std::cout << slave_clock.monotonic << std::endl;
}
TEST(GlobalTimeSyncSlave, Suppression)
{
SystemClockMock slave_clock;
slave_clock.monotonic = 1000000;
slave_clock.preserve_utc = true;
CanDriverMock slave_can(3, slave_clock);
for (int i = 0; i < slave_can.getNumIfaces(); i++)
{
slave_can.ifaces.at(i).enable_utc_timestamping = true;
}
TestNode node(slave_can, slave_clock, 64);
uavcan::GlobalTimeSyncSlave gtss(node);
uavcan::Publisher<uavcan::protocol::GlobalTimeSync> gts_pub(node);
ASSERT_LE(0, gtss.start());
ASSERT_EQ(0, slave_clock.utc);
gtss.suppress(true);
broadcastSyncMsg(slave_can.ifaces.at(0), 0, 8, 0); // Locked on this
broadcastSyncMsg(slave_can.ifaces.at(1), 2000, 8, 0); // Ignored
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(10)));
broadcastSyncMsg(slave_can.ifaces.at(0), 1000, 8, 1); // Adjust 1000 ahead
broadcastSyncMsg(slave_can.ifaces.at(1), 2000, 8, 1); // Ignored
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(10)));
ASSERT_TRUE(gtss.isActive());
ASSERT_EQ(8, gtss.getMasterNodeID().get());
ASSERT_EQ(0, slave_clock.utc); // The clock shall not be asjusted
}