mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-28 03:10:35 +08:00
Pavel Kirienko
110 lines
3.3 KiB
C++
110 lines
3.3 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include <algorithm>
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#include <gtest/gtest.h>
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#include <uavcan/transport/transfer_listener.hpp>
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#include "../clock.hpp"
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static uavcan::RxFrame makeFrame()
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{
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uavcan::RxFrame frame(
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uavcan::Frame(123, uavcan::TransferTypeMessageBroadcast, 1, uavcan::NodeID::Broadcast, 0, 1, true),
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tsMono(123), tsUtc(456), 0);
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uint8_t data[8];
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for (uint8_t i = 0; i < sizeof(data); i++)
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{
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data[i] = i;
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}
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frame.setPayload(data, sizeof(data));
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return frame;
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}
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static bool match(const uavcan::IncomingTransfer& it, const uavcan::RxFrame& frame,
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const uint8_t* payload, unsigned payload_len)
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{
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// Fields extracted from the frame struct
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EXPECT_EQ(it.getMonotonicTimestamp(), frame.getMonotonicTimestamp());
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EXPECT_EQ(it.getUtcTimestamp(), frame.getUtcTimestamp());
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EXPECT_EQ(it.getSrcNodeID(), frame.getSrcNodeID());
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EXPECT_EQ(it.getTransferID(), frame.getTransferID());
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EXPECT_EQ(it.getTransferType(), frame.getTransferType());
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// Payload comparison
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static const unsigned BUFLEN = 1024;
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uint8_t buf_reference[BUFLEN], buf_actual[BUFLEN];
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if (payload_len > BUFLEN)
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{
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std::cout << "match(): Payload is too long" << std::endl;
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exit(1);
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}
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std::fill(buf_reference, buf_reference + BUFLEN, 0);
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std::fill(buf_actual, buf_actual + BUFLEN, 0);
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std::copy(payload, payload + payload_len, buf_reference);
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EXPECT_EQ(payload_len, it.read(0, buf_actual, payload_len * 3));
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EXPECT_EQ(0, it.read(payload_len, buf_actual, payload_len * 3));
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return std::equal(buf_reference, buf_reference + BUFLEN, buf_actual);
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}
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TEST(SingleFrameIncomingTransfer, Basic)
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{
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using uavcan::RxFrame;
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using uavcan::SingleFrameIncomingTransfer;
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const RxFrame frame = makeFrame();
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SingleFrameIncomingTransfer it(frame);
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ASSERT_TRUE(match(it, frame, frame.getPayloadPtr(), frame.getPayloadLen()));
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}
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TEST(MultiFrameIncomingTransfer, Basic)
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{
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using uavcan::RxFrame;
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using uavcan::MultiFrameIncomingTransfer;
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uavcan::PoolManager<1> poolmgr; // We don't need dynamic memory
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uavcan::TransferBufferManager<256, 1> bufmgr(poolmgr);
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const RxFrame frame = makeFrame();
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uavcan::TransferBufferManagerKey bufmgr_key(frame.getSrcNodeID(), frame.getTransferType());
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uavcan::TransferBufferAccessor tba(bufmgr, bufmgr_key);
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MultiFrameIncomingTransfer it(frame.getMonotonicTimestamp(), frame.getUtcTimestamp(), frame, tba);
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/*
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* Empty read must fail
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*/
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uint8_t data_byte = 0;
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ASSERT_GT(0, it.read(0, &data_byte, 1)); // Error - no such buffer
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/*
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* Filling the test data
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*/
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const std::string data = "123Hello world";
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const uint8_t* const data_ptr = reinterpret_cast<const uint8_t*>(data.c_str());
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ASSERT_FALSE(bufmgr.access(bufmgr_key));
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ASSERT_TRUE(bufmgr.create(bufmgr_key));
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ASSERT_EQ(data.length(), bufmgr.access(bufmgr_key)->write(0, data_ptr, unsigned(data.length())));
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/*
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* Check
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*/
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ASSERT_TRUE(match(it, frame, data_ptr, unsigned(data.length())));
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/*
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* Buffer release
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*/
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ASSERT_TRUE(bufmgr.access(bufmgr_key));
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it.release();
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ASSERT_FALSE(bufmgr.access(bufmgr_key));
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}
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