From e5a0746443ac1683cf1e7ef771c8776e214a5d0a Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Thu, 6 Apr 2017 18:34:17 +0300 Subject: [PATCH] Syncing unit tests with spec changes --- libuavcan/include/uavcan/protocol/node_info_retriever.hpp | 6 +++--- libuavcan/test/node/service_client.cpp | 6 +++--- .../protocol/dynamic_node_id_server/node_discoverer.cpp | 8 ++++---- libuavcan/test/protocol/node_info_retriever.cpp | 2 +- 4 files changed, 11 insertions(+), 11 deletions(-) diff --git a/libuavcan/include/uavcan/protocol/node_info_retriever.hpp b/libuavcan/include/uavcan/protocol/node_info_retriever.hpp index 721ec37d68..a1549f763c 100644 --- a/libuavcan/include/uavcan/protocol/node_info_retriever.hpp +++ b/libuavcan/include/uavcan/protocol/node_info_retriever.hpp @@ -74,10 +74,10 @@ public: * request interval [ms] = floor(5000 [ms] bootloader timeout / 123 nodes) * Which yields 40 ms. * - * Given default service timeout 500 ms and the defined above request frequency 40 ms, the maximum number of + * Given default service timeout 1000 ms and the defined above request frequency 40 ms, the maximum number of * concurrent requests will be: - * max concurrent requests = ceil(500 [ms] timeout / 40 [ms] request interval) - * Which yields 13 requests. + * max concurrent requests = ceil(1000 [ms] timeout / 40 [ms] request interval) + * Which yields 25 requests. * * Keep the above equations in mind when changing the default request interval. * diff --git a/libuavcan/test/node/service_client.cpp b/libuavcan/test/node/service_client.cpp index 9d8d169e91..28014eecc3 100644 --- a/libuavcan/test/node/service_client.cpp +++ b/libuavcan/test/node/service_client.cpp @@ -281,7 +281,7 @@ TEST(ServiceClient, ConcurrentCalls) ASSERT_LT(0, client.call(1, request, last_call_id)); } - ASSERT_LT(0, client.call(99, root_ns_a::StringService::Request())); // Will timeout in 500 ms + ASSERT_LT(0, client.call(99, root_ns_a::StringService::Request())); // Will timeout in 1000 ms client.setRequestTimeout(uavcan::MonotonicDuration::fromMSec(100)); @@ -342,9 +342,9 @@ TEST(ServiceClient, ConcurrentCalls) ASSERT_TRUE(handler.match(ResultType::ErrorTimeout, 88, root_ns_a::StringService::Response())); /* - * Validating the 500 ms timeout + * Validating the 1000 ms timeout */ - nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(500)); + nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000)); ASSERT_FALSE(client.hasPendingCalls()); ASSERT_EQ(0, client.getNumPendingCalls()); // All finished diff --git a/libuavcan/test/protocol/dynamic_node_id_server/node_discoverer.cpp b/libuavcan/test/protocol/dynamic_node_id_server/node_discoverer.cpp index 63481e94a7..5bc5ccc727 100644 --- a/libuavcan/test/protocol/dynamic_node_id_server/node_discoverer.cpp +++ b/libuavcan/test/protocol/dynamic_node_id_server/node_discoverer.cpp @@ -136,7 +136,7 @@ TEST(dynamic_node_id_server_NodeDiscoverer, Basic) std::cout << "!!! Enabling discovery" << std::endl; handler.can_discover = true; - nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(650)); + nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1150)); ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNewNodeFound)); ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryTimerStart)); @@ -173,7 +173,7 @@ TEST(dynamic_node_id_server_NodeDiscoverer, Basic) get_node_info_server.response.hardware_version.unique_id[14] = 52; ASSERT_LE(0, get_node_info_server.start()); - nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(500)); + nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000)); ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNewNodeFound)); ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryTimerStart)); @@ -225,7 +225,7 @@ TEST(dynamic_node_id_server_NodeDiscoverer, RestartAndMaxAttempts) node_status.uptime_sec = 10; // Nonzero ASSERT_LE(0, node_status_pub.broadcast(node_status)); - nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1600)); + nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(3100)); ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNewNodeFound)); ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryTimerStart)); @@ -242,7 +242,7 @@ TEST(dynamic_node_id_server_NodeDiscoverer, RestartAndMaxAttempts) node_status.uptime_sec = 9; // Less than previous ASSERT_LE(0, node_status_pub.broadcast(node_status)); - nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1600)); + nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(3100)); ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryNewNodeFound)); ASSERT_EQ(1, tracer.countEvents(TraceDiscoveryTimerStart)); diff --git a/libuavcan/test/protocol/node_info_retriever.cpp b/libuavcan/test/protocol/node_info_retriever.cpp index 032895e366..e7baa78c3d 100644 --- a/libuavcan/test/protocol/node_info_retriever.cpp +++ b/libuavcan/test/protocol/node_info_retriever.cpp @@ -255,7 +255,7 @@ TEST(NodeInfoRetriever, MaxConcurrentRequests) ASSERT_EQ(40, retr.getRequestInterval().toMSec()); - const unsigned MaxPendingRequests = 14; // See class docs + const unsigned MaxPendingRequests = 26; // See class docs const unsigned MinPendingRequestsAtFullLoad = 12; /*