fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 07:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

CATS test for services

Browse Source
This commit is contained in:
Pavel Kirienko
2015-04-30 11:05:59 +03:00
parent b8c5613522
commit ecd7d8a8a5
1 changed files with 24 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/test/protocol/data_type_info_provider.cpp
+24 -3
View File
@@ -173,12 +173,12 @@ TEST(DataTypeInfoProvider, Basic)
ASSERT_EQ(0, gdti_cln.collector.result->response.kind.value); ASSERT_EQ(0, gdti_cln.collector.result->response.kind.value);
/* /*
* ComputeAggregateTypeSignature test * ComputeAggregateTypeSignature test for messages
*/ */
ComputeAggregateTypeSignature::Request cats_request; ComputeAggregateTypeSignature::Request cats_request;
cats_request.kind.value = DataTypeKind::MESSAGE; cats_request.kind.value = DataTypeKind::MESSAGE;
cats_request.known_ids.resize(2048); cats_request.known_ids.resize(2000); // not 2048
cats_request.known_ids.set(); // Assuming we have all 2048 types cats_request.known_ids.set(); // Assuming we have all 2000 types
ASSERT_LE(0, cats_cln.call(1, cats_request)); ASSERT_LE(0, cats_cln.call(1, cats_request));
nodes.spinBoth(MonotonicDuration::fromMSec(10)); nodes.spinBoth(MonotonicDuration::fromMSec(10));
@@ -186,10 +186,31 @@ TEST(DataTypeInfoProvider, Basic)
ASSERT_TRUE(cats_cln.collector.result->isSuccessful()); ASSERT_TRUE(cats_cln.collector.result->isSuccessful());
ASSERT_EQ(1, cats_cln.collector.result->server_node_id.get()); ASSERT_EQ(1, cats_cln.collector.result->server_node_id.get());
ASSERT_EQ(NodeStatus::getDataTypeSignature().get(), cats_cln.collector.result->response.aggregate_signature); ASSERT_EQ(NodeStatus::getDataTypeSignature().get(), cats_cln.collector.result->response.aggregate_signature);
ASSERT_EQ(2048, cats_cln.collector.result->response.mutually_known_ids.size());
ASSERT_TRUE(cats_cln.collector.result->response.mutually_known_ids[NodeStatus::DefaultDataTypeID]); ASSERT_TRUE(cats_cln.collector.result->response.mutually_known_ids[NodeStatus::DefaultDataTypeID]);
cats_cln.collector.result->response.mutually_known_ids[NodeStatus::DefaultDataTypeID] = false; cats_cln.collector.result->response.mutually_known_ids[NodeStatus::DefaultDataTypeID] = false;
ASSERT_FALSE(cats_cln.collector.result->response.mutually_known_ids.any()); ASSERT_FALSE(cats_cln.collector.result->response.mutually_known_ids.any());
/*
* ComputeAggregateTypeSignature test for services
*/
cats_request = ComputeAggregateTypeSignature::Request();
cats_request.kind.value = DataTypeKind::SERVICE;
cats_request.known_ids.resize(500); // not 512
cats_request.known_ids.set(); // Assuming we have all 500 types
ASSERT_LE(0, cats_cln.call(1, cats_request));
nodes.spinBoth(MonotonicDuration::fromMSec(10));
ASSERT_TRUE(cats_cln.collector.result.get());
ASSERT_TRUE(cats_cln.collector.result->isSuccessful());
ASSERT_EQ(1, cats_cln.collector.result->server_node_id.get());
ASSERT_EQ(512, cats_cln.collector.result->response.mutually_known_ids.size());
ASSERT_TRUE(cats_cln.collector.result->response.mutually_known_ids[GetDataTypeInfo::DefaultDataTypeID]);
ASSERT_TRUE(cats_cln.collector.result->response.mutually_known_ids[ComputeAggregateTypeSignature::DefaultDataTypeID]);
cats_cln.collector.result->response.mutually_known_ids[GetDataTypeInfo::DefaultDataTypeID] = false;
cats_cln.collector.result->response.mutually_known_ids[ComputeAggregateTypeSignature::DefaultDataTypeID] = false;
ASSERT_FALSE(cats_cln.collector.result->response.mutually_known_ids.any());
/* /*
* ComputeAggregateTypeSignature test for a non-existent type * ComputeAggregateTypeSignature test for a non-existent type
*/ */