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79 lines
2.4 KiB
C++
79 lines
2.4 KiB
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 <uavcan/protocol/dynamic_node_id_server/centralized.hpp>
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#include <uavcan/protocol/dynamic_node_id_client.hpp>
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#include "../../helpers.hpp"
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#include "../event_tracer.hpp"
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#include "../../helpers.hpp"
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#include "../memory_storage_backend.hpp"
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using uavcan::dynamic_node_id_server::UniqueID;
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TEST(dynamic_node_id_server_centralized_Server, Basic)
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{
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using namespace uavcan::dynamic_node_id_server;
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using namespace uavcan::protocol::dynamic_node_id;
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using namespace uavcan::protocol::dynamic_node_id::server;
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uavcan::GlobalDataTypeRegistry::instance().reset();
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uavcan::DefaultDataTypeRegistrator<Allocation> _reg1;
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uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg2;
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uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg3;
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EventTracer tracer;
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MemoryStorageBackend storage;
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// Node A is Allocator, Node B is Allocatee
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InterlinkedTestNodesWithSysClock nodes(uavcan::NodeID(10), uavcan::NodeID::Broadcast);
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UniqueID own_unique_id;
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own_unique_id[0] = 0xAA;
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own_unique_id[3] = 0xCC;
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own_unique_id[7] = 0xEE;
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own_unique_id[9] = 0xBB;
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/*
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* Server
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*/
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uavcan::dynamic_node_id_server::CentralizedServer server(nodes.a, storage, tracer);
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ASSERT_LE(0, server.init(own_unique_id));
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ASSERT_EQ(1, server.getNumAllocations()); // Server's own node ID
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/*
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* Client
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*/
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uavcan::DynamicNodeIDClient client(nodes.b);
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uavcan::protocol::HardwareVersion::FieldTypes::unique_id unique_id;
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for (uavcan::uint8_t i = 0; i < unique_id.size(); i++)
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{
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unique_id[i] = i;
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}
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const uavcan::NodeID PreferredNodeID = 42;
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ASSERT_LE(0, client.start(unique_id, PreferredNodeID));
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/*
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* Fire
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*/
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nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(15000));
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ASSERT_TRUE(client.isAllocationComplete());
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ASSERT_EQ(PreferredNodeID, client.getAllocatedNodeID());
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ASSERT_EQ(2, server.getNumAllocations()); // Server's own node ID + client
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}
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TEST(dynamic_node_id_server_centralized, ObjectSizes)
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{
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using namespace uavcan::dynamic_node_id_server;
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std::cout << "centralized::Storage: " << sizeof(centralized::Storage) << std::endl;
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std::cout << "centralized::Server: " << sizeof(centralized::Server) << std::endl;
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std::cout << "NodeDiscoverer: " << sizeof(NodeDiscoverer) << std::endl;
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}
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