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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-28 02:50:34 +08:00
Pavel Kirienko
94 lines
2.4 KiB
C++
94 lines
2.4 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include <string>
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#include <gtest/gtest.h>
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#include <uavcan/transport/transfer.hpp>
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TEST(Transfer, TransferID)
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{
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using uavcan::TransferID;
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// Tests below are based on this assumption
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ASSERT_EQ(8, 1 << TransferID::BitLen);
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/*
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* forwardDistance()
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*/
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EXPECT_EQ(0, TransferID(0).computeForwardDistance(0));
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EXPECT_EQ(1, TransferID(0).computeForwardDistance(1));
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EXPECT_EQ(7, TransferID(0).computeForwardDistance(7));
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EXPECT_EQ(0, TransferID(7).computeForwardDistance(7));
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EXPECT_EQ(7, TransferID(7).computeForwardDistance(6));
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EXPECT_EQ(1, TransferID(7).computeForwardDistance(0));
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EXPECT_EQ(7, TransferID(7).computeForwardDistance(6));
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EXPECT_EQ(5, TransferID(0).computeForwardDistance(5));
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/*
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* Misc
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*/
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EXPECT_TRUE(TransferID(2) == TransferID(2));
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EXPECT_FALSE(TransferID(2) != TransferID(2));
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EXPECT_FALSE(TransferID(2) == TransferID(0));
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EXPECT_TRUE(TransferID(2) != TransferID(0));
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TransferID tid;
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for (int i = 0; i < 999; i++)
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{
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ASSERT_EQ(i & ((1 << TransferID::BitLen) - 1), tid.get());
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const TransferID copy = tid;
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tid.increment();
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ASSERT_EQ(1, copy.computeForwardDistance(tid));
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ASSERT_EQ(7, tid.computeForwardDistance(copy));
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ASSERT_EQ(0, tid.computeForwardDistance(tid));
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}
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}
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TEST(Transfer, NodeID)
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{
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uavcan::NodeID nid1(1);
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uavcan::NodeID nid127(127);
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uavcan::NodeID nid0(0);
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uavcan::NodeID nidx;
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ASSERT_TRUE(nid1.isUnicast());
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ASSERT_FALSE(nid1.isBroadcast());
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ASSERT_TRUE(nid1.isValid());
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ASSERT_TRUE(nid127.isUnicast());
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ASSERT_FALSE(nid127.isBroadcast());
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ASSERT_TRUE(nid127.isValid());
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ASSERT_FALSE(nid0.isUnicast());
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ASSERT_TRUE(nid0.isBroadcast());
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ASSERT_TRUE(nid0.isValid());
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ASSERT_FALSE(nidx.isUnicast());
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ASSERT_FALSE(nidx.isBroadcast());
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ASSERT_FALSE(nidx.isValid());
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/*
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* Comparison operators
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*/
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ASSERT_TRUE(nid1 < nid127);
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ASSERT_TRUE(nid1 <= nid127);
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ASSERT_TRUE(nid0 < nid1);
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ASSERT_TRUE(nid0 <= nid1);
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ASSERT_FALSE(nid1 > nid127);
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ASSERT_FALSE(nid1 >= nid127);
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ASSERT_FALSE(nid0 > nid1);
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ASSERT_FALSE(nid0 >= nid1);
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ASSERT_FALSE(nid1 > uavcan::NodeID(1));
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ASSERT_TRUE(nid1 >= uavcan::NodeID(1));
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ASSERT_FALSE(nid1 == nid127);
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ASSERT_TRUE(nid127 == uavcan::NodeID(127));
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}
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