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Node<> and NodeStatusProvider updated

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This commit is contained in:
Pavel Kirienko
2015-07-08 21:54:56 +03:00
parent 948ab8d695
commit e98ba01e22
4 changed files with 59 additions and 28 deletions
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libuavcan/test/protocol/node_status_provider.cpp
+11 -8
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@@ -32,9 +32,12 @@ TEST(NodeStatusProvider, Basic)
nsp.setName("superluminal_communication_unit");
ASSERT_STREQ("superluminal_communication_unit", nsp.getName().c_str());
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_INITIALIZING, nsp.getStatusCode());
nsp.setStatusOk();
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_OK, nsp.getStatusCode());
ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_OK, nsp.getHealth());
ASSERT_EQ(uavcan::protocol::NodeStatus::MODE_INITIALIZATION, nsp.getMode());
nsp.setHealthError();
nsp.setModeOperational();
ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_ERROR, nsp.getHealth());
ASSERT_EQ(uavcan::protocol::NodeStatus::MODE_OPERATIONAL, nsp.getMode());
// Will fail - types are not registered
uavcan::GlobalDataTypeRegistry::instance().reset();
@@ -68,7 +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::STATUS_OK, status_sub.collector.msg->status_code);
ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_OK, 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);
@@ -83,7 +86,7 @@ TEST(NodeStatusProvider, Basic)
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_OK, status_sub.collector.msg->status_code);
ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_OK, 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);
@@ -92,7 +95,7 @@ TEST(NodeStatusProvider, Basic)
*/
ServiceClientWithCollector<uavcan::protocol::GetNodeInfo> gni_cln(nodes.b);
nsp.setStatusCritical();
nsp.setHealthCritical();
ASSERT_FALSE(gni_cln.collector.result.get()); // No data yet
ASSERT_LE(0, gni_cln.call(1, uavcan::protocol::GetNodeInfo::Request()));
@@ -103,8 +106,8 @@ TEST(NodeStatusProvider, Basic)
ASSERT_TRUE(gni_cln.collector.result->isSuccessful());
ASSERT_EQ(1, gni_cln.collector.result->getCallID().server_node_id.get());
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_CRITICAL,
gni_cln.collector.result->getResponse().status.status_code);
ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_CRITICAL,
gni_cln.collector.result->getResponse().status.health);
ASSERT_TRUE(hwver == gni_cln.collector.result->getResponse().hardware_version);
ASSERT_TRUE(swver == gni_cln.collector.result->getResponse().software_version);