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Type registration test

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This commit is contained in:
Pavel Kirienko 2014-03-05 22:32:35 +04:00
parent 98b2597c30
commit f06346877f
1 changed files with 54 additions and 0 deletions
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54
libuavcan/test/dsdl_test/dsdl_test.cpp
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@ -42,6 +42,7 @@ TEST(Dsdl, EmptyServices)
ASSERT_EQ(65504, resp.covariance[1]);
}
TEST(Dsdl, Signature)
{
ASSERT_EQ(0xe74617107a34aa9c, root_ns_a::EmptyService::getDataTypeSignature().get());
@ -52,3 +53,56 @@ TEST(Dsdl, Signature)
ASSERT_EQ("root_ns_a.NestedMessage", root_ns_a::NestedMessage::getDataTypeFullName());
ASSERT_EQ(uavcan::DataTypeKindMessage, root_ns_a::NestedMessage::DataTypeKind);
}
TEST(Dsdl, Registration)
{
using uavcan::GlobalDataTypeRegistry;
/*
* Descriptors
*/
const uavcan::DataTypeDescriptor* desc = NULL;
desc = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, "root_ns_a.EmptyMessage");
ASSERT_TRUE(desc);
ASSERT_EQ(root_ns_a::EmptyMessage::DefaultDataTypeID, desc->getID());
ASSERT_EQ(root_ns_a::EmptyMessage::DataTypeKind, desc->getKind());
ASSERT_EQ(root_ns_a::EmptyMessage::getDataTypeSignature(), desc->getSignature());
ASSERT_STREQ(root_ns_a::EmptyMessage::getDataTypeFullName(), desc->getFullName());
desc = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindService, "root_ns_a.EmptyService");
ASSERT_TRUE(desc);
ASSERT_EQ(root_ns_a::EmptyService::DefaultDataTypeID, desc->getID());
ASSERT_EQ(root_ns_a::EmptyService::DataTypeKind, desc->getKind());
ASSERT_EQ(root_ns_a::EmptyService::getDataTypeSignature(), desc->getSignature());
ASSERT_STREQ(root_ns_a::EmptyService::getDataTypeFullName(), desc->getFullName());
desc = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindService, "root_ns_a.ReportBackSoldier");
ASSERT_TRUE(desc);
ASSERT_EQ(root_ns_a::ReportBackSoldier::DefaultDataTypeID, desc->getID());
ASSERT_EQ(root_ns_a::ReportBackSoldier::DataTypeKind, desc->getKind());
ASSERT_EQ(root_ns_a::ReportBackSoldier::getDataTypeSignature(), desc->getSignature());
ASSERT_STREQ(root_ns_a::ReportBackSoldier::getDataTypeFullName(), desc->getFullName());
/*
* Mask
*/
uavcan::DataTypeIDMask mask;
GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindMessage, mask);
ASSERT_TRUE(mask[8]);
mask[8] = false;
ASSERT_FALSE(mask.any());
GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindService, mask);
ASSERT_TRUE(mask[1]);
ASSERT_TRUE(mask[3]);
mask[1] = mask[3] = false;
ASSERT_FALSE(mask.any());
/*
* Reset
*/
GlobalDataTypeRegistry::instance().reset();
ASSERT_FALSE(GlobalDataTypeRegistry::instance().isFrozen());
}