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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-04 09:20:35 +08:00
Pavel Kirienko
75 lines
2.8 KiB
C++
75 lines
2.8 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/internal/transport/outgoing_transfer_registry.hpp>
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TEST(OutgoingTransferRegistry, Basic)
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{
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using uavcan::OutgoingTransferRegistryKey;
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uavcan::PoolManager<1> poolmgr; // Empty
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uavcan::OutgoingTransferRegistry<4> otr(poolmgr);
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otr.cleanup(1000);
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static const int NUM_KEYS = 5;
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const OutgoingTransferRegistryKey keys[NUM_KEYS] =
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{
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OutgoingTransferRegistryKey(123, uavcan::TransferTypeMessageUnicast, 42),
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OutgoingTransferRegistryKey(123, uavcan::TransferTypeMessageBroadcast, 0),
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OutgoingTransferRegistryKey(123, uavcan::TransferTypeServiceRequest, 2),
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OutgoingTransferRegistryKey(123, uavcan::TransferTypeMessageUnicast, 4),
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OutgoingTransferRegistryKey(456, uavcan::TransferTypeServiceRequest, 2)
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};
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ASSERT_EQ(0, otr.accessOrCreate(keys[0], 1000000)->get());
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ASSERT_EQ(0, otr.accessOrCreate(keys[1], 1000000)->get());
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ASSERT_EQ(0, otr.accessOrCreate(keys[2], 1000000)->get());
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ASSERT_EQ(0, otr.accessOrCreate(keys[3], 1000000)->get());
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ASSERT_FALSE(otr.accessOrCreate(keys[4], 1000000)); // OOM
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/*
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* Incrementing a little
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*/
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otr.accessOrCreate(keys[0], 2000000)->increment();
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otr.accessOrCreate(keys[0], 4000000)->increment();
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otr.accessOrCreate(keys[0], 3000000)->increment();
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ASSERT_EQ(3, otr.accessOrCreate(keys[0], 5000000)->get());
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otr.accessOrCreate(keys[2], 2000000)->increment();
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otr.accessOrCreate(keys[2], 3000000)->increment();
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ASSERT_EQ(2, otr.accessOrCreate(keys[2], 6000000)->get());
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otr.accessOrCreate(keys[3], 9000000)->increment();
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ASSERT_EQ(1, otr.accessOrCreate(keys[3], 4000000)->get());
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ASSERT_EQ(0, otr.accessOrCreate(keys[1], 4000000)->get());
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ASSERT_FALSE(otr.accessOrCreate(keys[4], 1000000)); // Still OOM
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/*
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* Cleaning up
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*/
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otr.cleanup(4000001); // Kills 1, 3
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ASSERT_EQ(0, otr.accessOrCreate(keys[1], 1000000)->get());
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ASSERT_EQ(0, otr.accessOrCreate(keys[3], 1000000)->get());
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otr.accessOrCreate(keys[1], 5000000)->increment();
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otr.accessOrCreate(keys[3], 5000000)->increment();
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ASSERT_EQ(3, otr.accessOrCreate(keys[0], 5000000)->get());
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ASSERT_EQ(2, otr.accessOrCreate(keys[2], 6000000)->get());
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otr.cleanup(5000001); // Kills 1, 3 (He needs a bath, Jud. He stinks of the ground you buried him in.), 0
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ASSERT_EQ(0, otr.accessOrCreate(keys[0], 1000000)->get());
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ASSERT_EQ(0, otr.accessOrCreate(keys[1], 1000000)->get());
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ASSERT_EQ(0, otr.accessOrCreate(keys[3], 1000000)->get());
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ASSERT_EQ(2, otr.accessOrCreate(keys[2], 1000000)->get());
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otr.cleanup(5000001); // Frees some memory for 4
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ASSERT_EQ(0, otr.accessOrCreate(keys[0], 1000000)->get());
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}
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