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81 lines
2.5 KiB
C++
81 lines
2.5 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/node/node.hpp>
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#include <uavcan/node/sub_node.hpp>
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#include <uavcan/protocol/node_status_monitor.hpp>
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#include "test_node.hpp"
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#include "../protocol/helpers.hpp"
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static void registerTypes()
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{
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uavcan::GlobalDataTypeRegistry::instance().reset();
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uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg2;
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uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg4;
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uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetDataTypeInfo> _reg5;
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uavcan::DefaultDataTypeRegistrator<uavcan::protocol::debug::LogMessage> _reg6;
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uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetTransportStats> _reg7;
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uavcan::DefaultDataTypeRegistrator<uavcan::protocol::RestartNode> _reg8;
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}
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TEST(SubNode, Basic)
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{
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registerTypes();
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InterlinkedTestNodesWithSysClock nodes;
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uavcan::protocol::SoftwareVersion swver;
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swver.major = 0;
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swver.minor = 1;
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swver.vcs_commit = 0xDEADBEEF;
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/*
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* uavcan::Node
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*/
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uavcan::Node<0> node1(nodes.can_a, nodes.clock_a);
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node1.setName("com.example");
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node1.setNodeID(1);
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node1.setSoftwareVersion(swver);
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/*
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* uavcan::SubNode
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*/
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uavcan::SubNode<0> node2(nodes.can_b, nodes.clock_b);
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std::cout << "sizeof(uavcan::SubNode<0>): " << sizeof(uavcan::SubNode<0>) << std::endl;
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BackgroundSpinner bgspinner(node2, node1);
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bgspinner.startPeriodic(uavcan::MonotonicDuration::fromMSec(10));
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uavcan::NodeStatusMonitor node_status_monitor(node2);
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ASSERT_LE(0, node_status_monitor.start());
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/*
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* Init the first node
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*/
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ASSERT_FALSE(node1.isStarted());
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ASSERT_EQ(-uavcan::ErrNotInited, node1.spin(uavcan::MonotonicDuration::fromMSec(20)));
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ASSERT_LE(0, node1.start());
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ASSERT_TRUE(node1.isStarted());
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ASSERT_LE(0, node1.spin(uavcan::MonotonicDuration::fromMSec(2000)));
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ASSERT_EQ(1, node_status_monitor.findNodeWithWorstStatus().get());
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/*
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* Some logging
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*/
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SubscriberWithCollector<uavcan::protocol::debug::LogMessage> log_sub(node2);
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ASSERT_LE(0, log_sub.start());
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node1.getLogger().setLevel(uavcan::protocol::debug::LogLevel::DEBUG);
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node1.logInfo("test", "6 * 9 = 42");
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ASSERT_LE(0, node1.spin(uavcan::MonotonicDuration::fromMSec(20)));
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ASSERT_LE(0, node2.spin(uavcan::MonotonicDuration::fromMSec(20)));
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ASSERT_TRUE(log_sub.collector.msg.get());
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std::cout << *log_sub.collector.msg << std::endl;
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}
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