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Configurable priority for service calls; plus a minor collateral refactoring

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This commit is contained in:
Pavel Kirienko
2015-07-03 09:56:52 +03:00
parent 546fda2b39
commit f015c2de8b
6 changed files with 75 additions and 18 deletions
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libuavcan/test/node/service_client.cpp
+53
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@@ -387,6 +387,59 @@ TEST(ServiceClient, Empty)
}
TEST(ServiceClient, Priority)
{
InterlinkedTestNodesWithSysClock nodes;
// Type registration
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<root_ns_a::EmptyService> _registrator;
// Initializing
typedef uavcan::ServiceClient<root_ns_a::EmptyService,
typename ServiceCallResultHandler<root_ns_a::EmptyService>::Binder > ClientType;
ServiceCallResultHandler<root_ns_a::EmptyService> handler;
ClientType client(nodes.b);
client.setCallback(handler.bind());
// Calling
root_ns_a::EmptyService::Request request;
client.setPriority(0);
ASSERT_LT(0, client.call(1, request)); // OK
client.setPriority(10);
ASSERT_LT(0, client.call(1, request)); // OK
client.setPriority(20);
ASSERT_LT(0, client.call(1, request)); // OK
client.setPriority(31);
ASSERT_LT(0, client.call(1, request)); // OK
// Validating
ASSERT_EQ(4, nodes.can_a.read_queue.size());
uavcan::Frame frame;
ASSERT_TRUE(frame.parse(nodes.can_a.read_queue.front()));
nodes.can_a.read_queue.pop();
ASSERT_EQ(0, frame.getPriority().get());
ASSERT_TRUE(frame.parse(nodes.can_a.read_queue.front()));
nodes.can_a.read_queue.pop();
ASSERT_EQ(10, frame.getPriority().get());
ASSERT_TRUE(frame.parse(nodes.can_a.read_queue.front()));
nodes.can_a.read_queue.pop();
ASSERT_EQ(20, frame.getPriority().get());
ASSERT_TRUE(frame.parse(nodes.can_a.read_queue.front()));
nodes.can_a.read_queue.pop();
ASSERT_EQ(31, frame.getPriority().get());
}
TEST(ServiceClient, Sizes)
{
using namespace uavcan;