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85 lines
3.5 KiB
C++
85 lines
3.5 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/transport_stats_provider.hpp>
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#include "helpers.hpp"
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TEST(TransportStatsProvider, Basic)
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{
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InterlinkedTestNodesWithSysClock nodes;
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uavcan::TransportStatsProvider tsp(nodes.a);
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uavcan::GlobalDataTypeRegistry::instance().reset();
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uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetTransportStats> _reg1;
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ASSERT_LE(0, tsp.start());
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ServiceClientWithCollector<uavcan::protocol::GetTransportStats> tsp_cln(nodes.b);
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/*
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* First request
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*/
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ASSERT_LE(0, tsp_cln.call(1, uavcan::protocol::GetTransportStats::Request()));
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ASSERT_LE(0, nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10)));
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ASSERT_TRUE(tsp_cln.collector.result.get());
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ASSERT_TRUE(tsp_cln.collector.result->isSuccessful());
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ASSERT_EQ(0, tsp_cln.collector.result->response.transfer_errors);
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ASSERT_EQ(1, tsp_cln.collector.result->response.transfers_rx);
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ASSERT_EQ(0, tsp_cln.collector.result->response.transfers_tx);
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ASSERT_EQ(1, tsp_cln.collector.result->response.can_iface_stats.size());
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ASSERT_EQ(0, tsp_cln.collector.result->response.can_iface_stats[0].errors);
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ASSERT_EQ(1, tsp_cln.collector.result->response.can_iface_stats[0].frames_rx);
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ASSERT_EQ(0, tsp_cln.collector.result->response.can_iface_stats[0].frames_tx);
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/*
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* Second request
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*/
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ASSERT_LE(0, tsp_cln.call(1, uavcan::protocol::GetTransportStats::Request()));
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ASSERT_LE(0, nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10)));
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ASSERT_TRUE(tsp_cln.collector.result.get());
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ASSERT_EQ(0, tsp_cln.collector.result->response.transfer_errors);
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ASSERT_EQ(2, tsp_cln.collector.result->response.transfers_rx);
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ASSERT_EQ(1, tsp_cln.collector.result->response.transfers_tx);
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ASSERT_EQ(1, tsp_cln.collector.result->response.can_iface_stats.size());
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ASSERT_EQ(0, tsp_cln.collector.result->response.can_iface_stats[0].errors);
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ASSERT_EQ(2, tsp_cln.collector.result->response.can_iface_stats[0].frames_rx);
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ASSERT_EQ(8, tsp_cln.collector.result->response.can_iface_stats[0].frames_tx);
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/*
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* Sending a malformed frame, it must be registered as tranfer error
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*/
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uavcan::Frame frame(uavcan::protocol::GetTransportStats::DefaultDataTypeID, uavcan::TransferTypeServiceRequest,
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2, 1, 0, 0, true);
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uavcan::CanFrame can_frame;
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ASSERT_TRUE(frame.compile(can_frame));
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nodes.can_a.read_queue.push(can_frame);
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ASSERT_LE(0, nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10)));
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/*
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* Introducing a CAN driver error
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*/
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nodes.can_a.error_count = 72;
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/*
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* Third request
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*/
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ASSERT_LE(0, tsp_cln.call(1, uavcan::protocol::GetTransportStats::Request()));
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ASSERT_LE(0, nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10)));
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ASSERT_TRUE(tsp_cln.collector.result.get());
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ASSERT_EQ(1, tsp_cln.collector.result->response.transfer_errors); // That broken frame
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ASSERT_EQ(3, tsp_cln.collector.result->response.transfers_rx);
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ASSERT_EQ(2, tsp_cln.collector.result->response.transfers_tx);
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ASSERT_EQ(1, tsp_cln.collector.result->response.can_iface_stats.size());
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ASSERT_EQ(72, tsp_cln.collector.result->response.can_iface_stats[0].errors);
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ASSERT_EQ(4, tsp_cln.collector.result->response.can_iface_stats[0].frames_rx); // Same here
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ASSERT_EQ(16, tsp_cln.collector.result->response.can_iface_stats[0].frames_tx);
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}
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