fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-29 13:30:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Dynamic node ID client update

Browse Source
This commit is contained in:
Pavel Kirienko
2015-07-04 11:00:10 +03:00
parent d8f354ff1f
commit f839cf010b
3 changed files with 120 additions and 70 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/test/protocol/dynamic_node_id_client.cpp
+9 -8
View File
@@ -92,16 +92,17 @@ TEST(DynamicNodeIDClient, Basic)
/*
* Responding with partially matching unique ID - the client will respond with second-stage request immediately
*/
const uint8_t BytesPerRequest = uavcan::protocol::dynamic_node_id::Allocation::MAX_LENGTH_OF_UNIQUE_ID_IN_REQUEST;
{
uavcan::protocol::dynamic_node_id::Allocation msg;
msg.unique_id.resize(7);
uavcan::copy(hwver.unique_id.begin(), hwver.unique_id.begin() + 7, msg.unique_id.begin());
msg.unique_id.resize(BytesPerRequest);
uavcan::copy(hwver.unique_id.begin(), hwver.unique_id.begin() + BytesPerRequest, msg.unique_id.begin());
std::cout << "First-stage offer:\n" << msg << std::endl;
ASSERT_FALSE(dynid_sub.collector.msg.get());
ASSERT_LE(0, dynid_pub.broadcast(msg));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(100));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(500));
ASSERT_TRUE(dynid_sub.collector.msg.get());
std::cout << "Second-stage request:\n" << *dynid_sub.collector.msg << std::endl;
@@ -109,7 +110,7 @@ TEST(DynamicNodeIDClient, Basic)
ASSERT_FALSE(dynid_sub.collector.msg->first_part_of_unique_id);
ASSERT_TRUE(uavcan::equal(dynid_sub.collector.msg->unique_id.begin(),
dynid_sub.collector.msg->unique_id.end(),
hwver.unique_id.begin() + 7));
hwver.unique_id.begin() + BytesPerRequest));
dynid_sub.collector.msg.reset();
}
@@ -118,14 +119,14 @@ TEST(DynamicNodeIDClient, Basic)
*/
{
uavcan::protocol::dynamic_node_id::Allocation msg;
msg.unique_id.resize(14);
uavcan::copy(hwver.unique_id.begin(), hwver.unique_id.begin() + 14, msg.unique_id.begin());
msg.unique_id.resize(BytesPerRequest * 2);
uavcan::copy(hwver.unique_id.begin(), hwver.unique_id.begin() + BytesPerRequest * 2, msg.unique_id.begin());
std::cout << "Second-stage offer:\n" << msg << std::endl;
ASSERT_FALSE(dynid_sub.collector.msg.get());
ASSERT_LE(0, dynid_pub.broadcast(msg));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(100));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(500));
ASSERT_TRUE(dynid_sub.collector.msg.get());
std::cout << "Last request:\n" << *dynid_sub.collector.msg << std::endl;
@@ -133,7 +134,7 @@ TEST(DynamicNodeIDClient, Basic)
ASSERT_FALSE(dynid_sub.collector.msg->first_part_of_unique_id);
ASSERT_TRUE(uavcan::equal(dynid_sub.collector.msg->unique_id.begin(),
dynid_sub.collector.msg->unique_id.end(),
hwver.unique_id.begin() + 14));
hwver.unique_id.begin() + BytesPerRequest * 2));
dynid_sub.collector.msg.reset();
}