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Dispatcher transmission test

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This commit is contained in:
Pavel Kirienko
2014-02-18 16:42:32 +04:00
parent 69eadee72b
commit f186888b04
1 changed files with 39 additions and 0 deletions
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libuavcan/test/transport/dispatcher.cpp
+39
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@@ -182,3 +182,42 @@ TEST(Dispatcher, Reception)
dispatcher.unregisterServiceResponseListener(subscribers[4].get());
dispatcher.unregisterServiceResponseListener(subscribers[5].get());
}
TEST(Dispatcher, Transmission)
{
uavcan::PoolAllocator<uavcan::MEM_POOL_BLOCK_SIZE * 8, uavcan::MEM_POOL_BLOCK_SIZE> pool;
uavcan::PoolManager<1> poolmgr;
poolmgr.addPool(&pool);
SystemClockMock clockmock(100);
CanDriverMock driver(2, clockmock);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(&poolmgr);
uavcan::Dispatcher dispatcher(&driver, &poolmgr, &clockmock, &out_trans_reg, SELF_NODE_ID);
/*
* Transmission
*/
static const int TX_DEADLINE = 123456;
// uint_fast16_t data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
// uint_fast8_t frame_index, TransferID transfer_id, bool last_frame = false
uavcan::Frame frame(123, uavcan::TRANSFER_TYPE_MESSAGE_UNICAST, SELF_NODE_ID, 2, 0, 0, true);
frame.setPayload(reinterpret_cast<const uint8_t*>("123"), 3);
ASSERT_EQ(2, dispatcher.send(frame, TX_DEADLINE, 0, uavcan::CanTxQueue::VOLATILE));
/*
* Validation
*/
uavcan::CanFrame expected_can_frame;
ASSERT_TRUE(frame.compile(expected_can_frame));
ASSERT_TRUE(driver.ifaces.at(0).matchAndPopTx(expected_can_frame, TX_DEADLINE));
ASSERT_TRUE(driver.ifaces.at(1).matchAndPopTx(expected_can_frame, TX_DEADLINE));
ASSERT_TRUE(driver.ifaces.at(0).tx.empty());
ASSERT_TRUE(driver.ifaces.at(1).tx.empty());
}