mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
109 lines
3.8 KiB
C++
109 lines
3.8 KiB
C++
/*
|
|
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
|
|
*/
|
|
|
|
#include <gtest/gtest.h>
|
|
#include <uavcan/protocol/node_status_provider.hpp>
|
|
#include "helpers.hpp"
|
|
|
|
|
|
TEST(NodeStatusProvider, Basic)
|
|
{
|
|
InterlinkedTestNodesWithSysClock nodes;
|
|
|
|
uavcan::NodeStatusProvider nsp(nodes.a);
|
|
|
|
/*
|
|
* Initialization
|
|
*/
|
|
uavcan::protocol::HardwareVersion hwver;
|
|
hwver.major = 3;
|
|
hwver.minor = 14;
|
|
|
|
uavcan::protocol::SoftwareVersion swver;
|
|
swver.major = 2;
|
|
swver.minor = 18;
|
|
swver.build = 0x600DF00D;
|
|
|
|
nsp.setHardwareVersion(hwver);
|
|
nsp.setSoftwareVersion(swver);
|
|
|
|
ASSERT_TRUE(nsp.getName().empty());
|
|
nsp.setName("superluminal_communication_unit");
|
|
ASSERT_STREQ("superluminal_communication_unit", nsp.getName().c_str());
|
|
|
|
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_INITIALIZING, nsp.getStatusCode());
|
|
nsp.setStatusOk();
|
|
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_OK, nsp.getStatusCode());
|
|
|
|
// Will fail - types are not registered
|
|
uavcan::GlobalDataTypeRegistry::instance().reset();
|
|
ASSERT_GT(0, nsp.startAndPublish());
|
|
|
|
uavcan::GlobalDataTypeRegistry::instance().reset();
|
|
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg1;
|
|
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg2;
|
|
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GlobalDiscoveryRequest> _reg3;
|
|
ASSERT_LE(0, nsp.startAndPublish());
|
|
|
|
/*
|
|
* Initial status publication
|
|
*/
|
|
SubscriberWithCollector<uavcan::protocol::NodeStatus> status_sub(nodes.b);
|
|
|
|
ASSERT_LE(0, status_sub.start());
|
|
ASSERT_FALSE(status_sub.collector.msg.get()); // No data yet
|
|
|
|
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
|
|
|
|
ASSERT_TRUE(status_sub.collector.msg.get()); // Was published at startup
|
|
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_OK, status_sub.collector.msg->status_code);
|
|
ASSERT_GE(1, status_sub.collector.msg->uptime_sec);
|
|
|
|
/*
|
|
* Explicit node info request
|
|
*/
|
|
ServiceClientWithCollector<uavcan::protocol::GetNodeInfo> gni_cln(nodes.b);
|
|
|
|
nsp.setStatusCritical();
|
|
|
|
ASSERT_FALSE(gni_cln.collector.result.get()); // No data yet
|
|
ASSERT_LE(0, gni_cln.call(1, uavcan::protocol::GetNodeInfo::Request()));
|
|
|
|
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
|
|
ASSERT_TRUE(gni_cln.collector.result.get()); // Response must have been delivered
|
|
|
|
ASSERT_TRUE(gni_cln.collector.result->isSuccessful());
|
|
ASSERT_EQ(1, gni_cln.collector.result->server_node_id.get());
|
|
|
|
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_CRITICAL, gni_cln.collector.result->response.status.status_code);
|
|
|
|
ASSERT_TRUE(hwver == gni_cln.collector.result->response.hardware_version);
|
|
ASSERT_TRUE(swver == gni_cln.collector.result->response.software_version);
|
|
|
|
ASSERT_EQ(UAVCAN_VERSION_MAJOR, gni_cln.collector.result->response.uavcan_version.major);
|
|
ASSERT_EQ(UAVCAN_VERSION_MINOR, gni_cln.collector.result->response.uavcan_version.minor);
|
|
ASSERT_EQ(UAVCAN_VERSION_BUILD, gni_cln.collector.result->response.uavcan_version.build);
|
|
|
|
ASSERT_EQ("superluminal_communication_unit", gni_cln.collector.result->response.name);
|
|
|
|
/*
|
|
* GlobalDiscoveryRequest
|
|
*/
|
|
uavcan::Publisher<uavcan::protocol::GlobalDiscoveryRequest> gdr_pub(nodes.b);
|
|
|
|
status_sub.collector.msg.reset();
|
|
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
|
|
ASSERT_FALSE(status_sub.collector.msg.get()); // Nothing!
|
|
|
|
ASSERT_LE(0, gdr_pub.broadcast(uavcan::protocol::GlobalDiscoveryRequest()));
|
|
|
|
nsp.setStatusWarning();
|
|
|
|
status_sub.collector.msg.reset();
|
|
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
|
|
|
|
ASSERT_TRUE(status_sub.collector.msg.get());
|
|
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_WARNING, status_sub.collector.msg->status_code);
|
|
}
|