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Raft logic fixes & more tests

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This commit is contained in:
Pavel Kirienko
2015-05-08 18:43:27 +03:00
parent 1d7e83bd71
commit e48fa77d85
3 changed files with 101 additions and 68 deletions
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libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
+50 -17
View File
@@ -2,8 +2,14 @@
* Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#if __GNUC__
// We need auto_ptr for compatibility reasons
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
#include <gtest/gtest.h>
#include <map>
#include <memory>
#include <uavcan/protocol/dynamic_node_id_allocation_server.hpp>
#include "helpers.hpp"
@@ -840,10 +846,13 @@ TEST(DynamicNodeIDAllocationServer, ClusterManagerThreeServers)
TEST(DynamicNodeIDAllocationServer, RaftCoreBasic)
{
using namespace uavcan::dynamic_node_id_server_impl;
using namespace uavcan::protocol::dynamic_node_id::server;
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::server::Discovery> _reg1;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::server::AppendEntries> _reg2;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::server::RequestVote> _reg3;
uavcan::DefaultDataTypeRegistrator<Discovery> _reg1;
uavcan::DefaultDataTypeRegistrator<AppendEntries> _reg2;
uavcan::DefaultDataTypeRegistrator<RequestVote> _reg3;
EventTracer tracer_a("a");
EventTracer tracer_b("b");
@@ -854,14 +863,14 @@ TEST(DynamicNodeIDAllocationServer, RaftCoreBasic)
InterlinkedTestNodesWithSysClock nodes;
uavcan::dynamic_node_id_server_impl::RaftCore raft_a(nodes.a, storage_a, tracer_a, commit_handler_a);
uavcan::dynamic_node_id_server_impl::RaftCore raft_b(nodes.b, storage_b, tracer_b, commit_handler_b);
std::auto_ptr<RaftCore> raft_a(new RaftCore(nodes.a, storage_a, tracer_a, commit_handler_a));
std::auto_ptr<RaftCore> raft_b(new RaftCore(nodes.b, storage_b, tracer_b, commit_handler_b));
/*
* Initialization
*/
ASSERT_LE(0, raft_a.init(2));
ASSERT_LE(0, raft_b.init(2));
ASSERT_LE(0, raft_a->init(2));
ASSERT_LE(0, raft_b->init(2));
/*
* Running and trying not to fall
@@ -869,24 +878,48 @@ TEST(DynamicNodeIDAllocationServer, RaftCoreBasic)
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(5000));
// The one with lower node ID must become a leader
ASSERT_TRUE(raft_a.isLeader());
ASSERT_FALSE(raft_b.isLeader());
ASSERT_TRUE(raft_a->isLeader());
ASSERT_FALSE(raft_b->isLeader());
ASSERT_EQ(0, raft_a.getCommitIndex());
ASSERT_EQ(0, raft_b.getCommitIndex());
ASSERT_EQ(0, raft_a->getCommitIndex());
ASSERT_EQ(0, raft_b->getCommitIndex());
/*
* Adding some stuff
*/
uavcan::protocol::dynamic_node_id::server::Entry::FieldTypes::unique_id unique_id;
Entry::FieldTypes::unique_id unique_id;
uavcan::fill_n(unique_id.begin(), 16, uint8_t(0xAA));
ASSERT_LE(0, raft_a.appendLog(unique_id, uavcan::NodeID(1)));
ASSERT_LE(0, raft_a->appendLog(unique_id, uavcan::NodeID(1)));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2000));
ASSERT_EQ(1, raft_a.getCommitIndex());
ASSERT_EQ(1, raft_b.getCommitIndex());
ASSERT_EQ(1, raft_a->getCommitIndex());
ASSERT_EQ(1, raft_b->getCommitIndex());
/*
* Terminating the leader - the Follower will continue to sleep
*/
raft_a.reset();
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2000));
/*
* Reinitializing the leader - current Follower will become the new Leader
*/
storage_a.reset();
raft_a.reset(new RaftCore(nodes.a, storage_a, tracer_a, commit_handler_a));
ASSERT_LE(0, raft_a->init(2));
ASSERT_EQ(0, raft_a->getCommitIndex());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(5000));
ASSERT_FALSE(raft_a->isLeader());
ASSERT_TRUE(raft_b->isLeader());
ASSERT_EQ(1, raft_a->getCommitIndex());
ASSERT_EQ(1, raft_b->getCommitIndex());
}
@@ -898,8 +931,8 @@ TEST(DynamicNodeIDAllocationServer, EventCodeToString)
// Simply checking some error codes
ASSERT_STREQ("Error",
IDynamicNodeIDAllocationServerEventTracer::getEventName(TraceError));
ASSERT_STREQ("RaftModeSwitch",
IDynamicNodeIDAllocationServerEventTracer::getEventName(TraceRaftModeSwitch));
ASSERT_STREQ("RaftActiveSwitch",
IDynamicNodeIDAllocationServerEventTracer::getEventName(TraceRaftActiveSwitch));
ASSERT_STREQ("RaftAppendEntriesCallFailure",
IDynamicNodeIDAllocationServerEventTracer::getEventName(TraceRaftAppendEntriesCallFailure));
ASSERT_STREQ("DiscoveryReceived",