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ClusterManager test for the case of one server

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This commit is contained in:
Pavel Kirienko
2015-05-05 11:29:51 +03:00
parent 92d74d35ea
commit f11f49a7d2
4 changed files with 122 additions and 33 deletions
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libuavcan/test/node/test_node.hpp
+3
View File
@@ -16,10 +16,12 @@ struct TestNode : public uavcan::INode
uavcan::MarshalBufferProvider<> buffer_provider;
uavcan::OutgoingTransferRegistry<8> otr;
uavcan::Scheduler scheduler;
uint64_t internal_failure_count;
TestNode(uavcan::ICanDriver& can_driver, uavcan::ISystemClock& clock_driver, uavcan::NodeID self_node_id)
: otr(poolmgr)
, scheduler(can_driver, poolmgr, clock_driver, otr)
, internal_failure_count(0)
{
poolmgr.addPool(&pool);
setNodeID(self_node_id);
@@ -28,6 +30,7 @@ struct TestNode : public uavcan::INode
virtual void registerInternalFailure(const char* msg)
{
std::cout << "TestNode internal failure: " << msg << std::endl;
internal_failure_count++;
}
virtual uavcan::PoolManager<1>& getAllocator() { return poolmgr; }
libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
+74
View File
@@ -594,3 +594,77 @@ TEST(DynamicNodeIDAllocationServer, ClusterManagerInitialization)
ASSERT_EQ(1, storage.getNumKeys());
}
}
TEST(DynamicNodeIDAllocationServer, ClusterManagerOneServer)
{
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::server::Discovery> _reg1;
StorageBackend storage;
uavcan::dynamic_node_id_server_impl::Log log(storage);
InterlinkedTestNodesWithSysClock nodes;
uavcan::dynamic_node_id_server_impl::ClusterManager mgr(nodes.a, storage, log);
/*
* Pub and sub
*/
SubscriberWithCollector<uavcan::protocol::dynamic_node_id::server::Discovery> sub(nodes.b);
uavcan::Publisher<uavcan::protocol::dynamic_node_id::server::Discovery> pub(nodes.b);
ASSERT_LE(0, sub.start());
ASSERT_LE(0, pub.init());
/*
* Starting
*/
ASSERT_LE(0, mgr.init(1));
ASSERT_EQ(0, mgr.getNumKnownServers());
ASSERT_TRUE(mgr.isClusterDiscovered());
ASSERT_EQ(0, nodes.a.internal_failure_count);
/*
* Broadcasting discovery with wrong cluster size, it will be reported as internal failure
*/
uavcan::protocol::dynamic_node_id::server::Discovery msg;
msg.configured_cluster_size = 2;
msg.known_nodes.push_back(2U);
ASSERT_LE(0, pub.broadcast(msg));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_EQ(1, nodes.a.internal_failure_count);
/*
* Discovery rate limiting test
*/
ASSERT_FALSE(sub.collector.msg.get());
msg = uavcan::protocol::dynamic_node_id::server::Discovery();
msg.configured_cluster_size = 1; // Correct value
ASSERT_LE(0, pub.broadcast(msg)); // List of known nodes is empty, intentionally
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(100));
ASSERT_FALSE(sub.collector.msg.get());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000));
ASSERT_TRUE(sub.collector.msg.get());
ASSERT_EQ(1, sub.collector.msg->configured_cluster_size);
ASSERT_EQ(1, sub.collector.msg->known_nodes.size());
ASSERT_EQ(1, sub.collector.msg->known_nodes[0]);
sub.collector.msg.reset();
// Rinse repeat
ASSERT_LE(0, pub.broadcast(msg));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(100));
ASSERT_FALSE(sub.collector.msg.get());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000));
ASSERT_TRUE(sub.collector.msg.get());
ASSERT_EQ(1, sub.collector.msg->configured_cluster_size);
ASSERT_EQ(1, sub.collector.msg->known_nodes.size());
ASSERT_EQ(1, sub.collector.msg->known_nodes[0]);
sub.collector.msg.reset();
}