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This commit is contained in:
Pavel Kirienko
2015-05-16 15:07:21 +03:00
parent da98060a58
commit e921f4da02
2 changed files with 12 additions and 0 deletions
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libuavcan/include/uavcan/node/generic_subscriber.hpp
+6
View File
@@ -189,16 +189,21 @@ protected:
int startAsMessageListener()
{
UAVCAN_TRACE("GenericSubscriber", "Start as message listener; dtname=%s", DataSpec::getDataTypeFullName());
return genericStart(&Dispatcher::registerMessageListener);
}
int startAsServiceRequestListener()
{
UAVCAN_TRACE("GenericSubscriber", "Start as service request listener; dtname=%s",
DataSpec::getDataTypeFullName());
return genericStart(&Dispatcher::registerServiceRequestListener);
}
int startAsServiceResponseListener()
{
UAVCAN_TRACE("GenericSubscriber", "Start as service response listener; dtname=%s",
DataSpec::getDataTypeFullName());
return genericStart(&Dispatcher::registerServiceResponseListener);
}
@@ -217,6 +222,7 @@ protected:
*/
void stop()
{
UAVCAN_TRACE("GenericSubscriber", "Stop; dtname=%s", DataSpec::getDataTypeFullName());
GenericSubscriberBase::stop(forwarder_);
}
libuavcan/test/node/service_client.cpp
+6
View File
@@ -105,10 +105,14 @@ TEST(ServiceClient, Basic)
root_ns_a::StringService::Request request;
request.string_request = "Hello world";
std::cout << "!!! Calling!" << std::endl;
ASSERT_LT(0, client1.call(1, request)); // OK
ASSERT_LT(0, client2.call(1, request)); // OK
ASSERT_LT(0, client3.call(99, request)); // Will timeout!
std::cout << "!!! Spinning!" << std::endl;
ASSERT_EQ(3, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Listening now!
ASSERT_TRUE(client1.hasPendingCalls());
@@ -117,6 +121,8 @@ TEST(ServiceClient, Basic)
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(20));
std::cout << "!!! Spin finished!" << std::endl;
ASSERT_EQ(1, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Third is still listening!
ASSERT_FALSE(client1.hasPendingCalls());