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84 lines
2.3 KiB
C++
84 lines
2.3 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include <gtest/gtest.h>
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#include <uavcan/protocol/restart_request_server.hpp>
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#include "helpers.hpp"
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struct RestartHandler : public uavcan::IRestartRequestHandler
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{
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bool accept;
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bool handleRestartRequest(uavcan::NodeID request_source)
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{
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std::cout << "Restart request from " << int(request_source.get()) << " will be "
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<< (accept ? "accepted" : "rejected") << std::endl;
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return accept;
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}
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};
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TEST(RestartRequestServer, Basic)
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{
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InterlinkedTestNodesWithSysClock nodes;
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uavcan::RestartRequestServer rrs(nodes.a);
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ServiceClientWithCollector<uavcan::protocol::RestartNode> rrs_cln(nodes.b);
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uavcan::GlobalDataTypeRegistry::instance().reset();
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uavcan::DefaultDataTypeRegistrator<uavcan::protocol::RestartNode> _reg1;
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ASSERT_LE(0, rrs.start());
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uavcan::protocol::RestartNode::Request request;
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request.magic_number = uavcan::protocol::RestartNode::Request::MAGIC_NUMBER;
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/*
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* Rejected - handler was not set
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*/
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ASSERT_LE(0, rrs_cln.call(1, request));
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nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
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ASSERT_TRUE(rrs_cln.collector.result.get());
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ASSERT_TRUE(rrs_cln.collector.result->isSuccessful());
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ASSERT_FALSE(rrs_cln.collector.result->getResponse().ok);
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/*
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* Accepted
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*/
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RestartHandler handler;
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handler.accept = true;
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rrs.setHandler(&handler);
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ASSERT_LE(0, rrs_cln.call(1, request));
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nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
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ASSERT_TRUE(rrs_cln.collector.result->isSuccessful());
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ASSERT_TRUE(rrs_cln.collector.result->getResponse().ok);
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/*
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* Rejected by handler
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*/
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handler.accept = false;
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ASSERT_LE(0, rrs_cln.call(1, request));
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nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
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ASSERT_TRUE(rrs_cln.collector.result->isSuccessful());
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ASSERT_FALSE(rrs_cln.collector.result->getResponse().ok);
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/*
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* Rejected because of invalid magic number
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*/
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handler.accept = true;
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ASSERT_LE(0, rrs_cln.call(1, uavcan::protocol::RestartNode::Request()));
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nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
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ASSERT_TRUE(rrs_cln.collector.result->isSuccessful());
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ASSERT_FALSE(rrs_cln.collector.result->getResponse().ok);
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}
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