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33 lines
708 B
C++
33 lines
708 B
C++
/*
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* Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include <gtest/gtest.h>
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#include "test_node.hpp"
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TEST(TestNode, TestNetwork)
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{
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TestNetwork<4> nwk;
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uavcan::CanFrame frame;
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for (int i = 0; i < 8; i++)
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{
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frame.data[i] = i;
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}
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frame.id = 1234U;
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ASSERT_EQ(1, nwk.nodes[0]->can_driver.send(frame, uavcan::MonotonicTime(), uavcan::CanIOFlags()));
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for (int i = 1; i < 4; i++)
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{
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uavcan::CanFrame rx;
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uavcan::MonotonicTime ts_mono;
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uavcan::UtcTime ts_utc;
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uavcan::CanIOFlags flags = 0;
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ASSERT_EQ(1, nwk.nodes[i]->can_driver.receive(rx, ts_mono, ts_utc, flags));
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ASSERT_TRUE(rx == frame);
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}
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}
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