mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-18 21:30:36 +08:00
Pavel Kirienko
108 lines
4.0 KiB
C++
108 lines
4.0 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 <root_ns_a/EmptyService.hpp>
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#include <root_ns_a/EmptyMessage.hpp>
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#include <root_ns_a/NestedMessage.hpp>
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#include <root_ns_a/ReportBackSoldier.hpp>
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#include <root_ns_b/ServiceWithEmptyRequest.hpp>
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#include <root_ns_b/ServiceWithEmptyResponse.hpp>
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#include <root_ns_b/T.hpp>
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TEST(Dsdl, EmptyServices)
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{
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uavcan::StaticTransferBuffer<100> buf;
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uavcan::BitStream bs_wr(buf);
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uavcan::ScalarCodec sc_wr(bs_wr);
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root_ns_b::ServiceWithEmptyRequest::Request req;
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ASSERT_EQ(1, root_ns_b::ServiceWithEmptyRequest::Request::encode(req, sc_wr));
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ASSERT_EQ("", bs_wr.toString());
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root_ns_b::ServiceWithEmptyRequest::Response resp;
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ASSERT_EQ(1, root_ns_b::ServiceWithEmptyRequest::Response::encode(resp, sc_wr));
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ASSERT_EQ("", bs_wr.toString());
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resp.covariance.push_back(-2);
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resp.covariance.push_back(65504);
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root_ns_b::ServiceWithEmptyRequest::Response::encode(resp, sc_wr);
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ASSERT_EQ("00000000 11000000 11111111 01111011", bs_wr.toString());
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resp.covariance.push_back(42);
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resp.covariance[0] = 999;
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uavcan::BitStream bs_rd(buf);
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uavcan::ScalarCodec sc_rd(bs_rd);
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ASSERT_EQ(1, root_ns_b::ServiceWithEmptyRequest::Response::decode(resp, sc_rd));
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ASSERT_EQ(2, resp.covariance.size());
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ASSERT_EQ(-2, resp.covariance[0]);
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ASSERT_EQ(65504, resp.covariance[1]);
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}
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TEST(Dsdl, Signature)
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{
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ASSERT_EQ(0xe74617107a34aa9c, root_ns_a::EmptyService::getDataTypeSignature().get());
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ASSERT_EQ("root_ns_a.EmptyService", root_ns_a::EmptyService::getDataTypeFullName());
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ASSERT_EQ(uavcan::DataTypeKindService, root_ns_a::EmptyService::DataTypeKind);
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ASSERT_EQ(0x41a2582ee72be419, root_ns_a::NestedMessage::getDataTypeSignature().get()); // Computed manually
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ASSERT_EQ("root_ns_a.NestedMessage", root_ns_a::NestedMessage::getDataTypeFullName());
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ASSERT_EQ(uavcan::DataTypeKindMessage, root_ns_a::NestedMessage::DataTypeKind);
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}
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TEST(Dsdl, Registration)
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{
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using uavcan::GlobalDataTypeRegistry;
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/*
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* Descriptors
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*/
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const uavcan::DataTypeDescriptor* desc = NULL;
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desc = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, "root_ns_a.EmptyMessage");
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ASSERT_TRUE(desc);
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ASSERT_EQ(root_ns_a::EmptyMessage::DefaultDataTypeID, desc->getID());
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ASSERT_EQ(root_ns_a::EmptyMessage::DataTypeKind, desc->getKind());
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ASSERT_EQ(root_ns_a::EmptyMessage::getDataTypeSignature(), desc->getSignature());
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ASSERT_STREQ(root_ns_a::EmptyMessage::getDataTypeFullName(), desc->getFullName());
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desc = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindService, "root_ns_a.EmptyService");
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ASSERT_TRUE(desc);
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ASSERT_EQ(root_ns_a::EmptyService::DefaultDataTypeID, desc->getID());
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ASSERT_EQ(root_ns_a::EmptyService::DataTypeKind, desc->getKind());
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ASSERT_EQ(root_ns_a::EmptyService::getDataTypeSignature(), desc->getSignature());
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ASSERT_STREQ(root_ns_a::EmptyService::getDataTypeFullName(), desc->getFullName());
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desc = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindService, "root_ns_a.ReportBackSoldier");
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ASSERT_TRUE(desc);
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ASSERT_EQ(root_ns_a::ReportBackSoldier::DefaultDataTypeID, desc->getID());
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ASSERT_EQ(root_ns_a::ReportBackSoldier::DataTypeKind, desc->getKind());
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ASSERT_EQ(root_ns_a::ReportBackSoldier::getDataTypeSignature(), desc->getSignature());
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ASSERT_STREQ(root_ns_a::ReportBackSoldier::getDataTypeFullName(), desc->getFullName());
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/*
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* Mask
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*/
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uavcan::DataTypeIDMask mask;
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GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindMessage, mask);
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ASSERT_TRUE(mask[8]);
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mask[8] = false;
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GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindService, mask);
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ASSERT_TRUE(mask[1]);
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ASSERT_TRUE(mask[3]);
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mask[1] = mask[3] = false;
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/*
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* Reset
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*/
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GlobalDataTypeRegistry::instance().reset();
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ASSERT_FALSE(GlobalDataTypeRegistry::instance().isFrozen());
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}
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