mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-29 11:40:35 +08:00
Pavel Kirienko
103 lines
3.3 KiB
C++
103 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 <gtest/gtest.h>
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#include "can.hpp"
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#include <uavcan/driver/can.hpp>
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TEST(CanFrame, FrameProperties)
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{
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EXPECT_TRUE(makeCanFrame(0, "", EXT).isExtended());
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EXPECT_FALSE(makeCanFrame(0, "", STD).isExtended());
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EXPECT_FALSE(makeCanFrame(0, "", EXT).isRemoteTransmissionRequest());
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EXPECT_FALSE(makeCanFrame(0, "", STD).isRemoteTransmissionRequest());
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uavcan::CanFrame frame = makeCanFrame(123, "", STD);
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frame.id |= uavcan::CanFrame::FlagRTR;
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EXPECT_TRUE(frame.isRemoteTransmissionRequest());
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EXPECT_FALSE(frame.isErrorFrame());
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frame.id |= uavcan::CanFrame::FlagERR;
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EXPECT_TRUE(frame.isErrorFrame());
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}
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TEST(CanFrame, Arbitration)
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{
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using uavcan::CanFrame;
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CanFrame a;
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CanFrame b;
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/*
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* Simple
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*/
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a.id = 123;
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b.id = 122;
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ASSERT_TRUE(a.priorityLowerThan(b));
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ASSERT_TRUE(b.priorityHigherThan(a));
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a.id = 123 | CanFrame::FlagEFF;
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b.id = 122 | CanFrame::FlagEFF;
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ASSERT_TRUE(a.priorityLowerThan(b));
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ASSERT_TRUE(b.priorityHigherThan(a));
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a.id = 8;
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b.id = 8;
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ASSERT_FALSE(a.priorityLowerThan(b));
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ASSERT_FALSE(b.priorityHigherThan(a));
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/*
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* EXT vs STD
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*/
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a.id = 1000; // 1000
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b.id = 2000 | CanFrame::FlagEFF; // 2000 >> 18, wins
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ASSERT_TRUE(a.priorityLowerThan(b));
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ASSERT_TRUE(b.priorityHigherThan(a));
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a.id = 0x400;
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b.id = 0x10000000 | CanFrame::FlagEFF; // (0x400 << 18), 11 most significant bits are the same --> EFF loses
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ASSERT_TRUE(a.priorityHigherThan(b));
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ASSERT_TRUE(b.priorityLowerThan(a));
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/*
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* RTR vs Data
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*/
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a.id = 123 | CanFrame::FlagRTR; // On the same ID, RTR loses
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b.id = 123;
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ASSERT_TRUE(a.priorityLowerThan(b));
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ASSERT_TRUE(b.priorityHigherThan(a));
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a.id = CanFrame::MaskStdID | CanFrame::FlagRTR; // RTR is STD, so it wins
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b.id = CanFrame::MaskExtID | CanFrame::FlagEFF; // Lowest possible priority for data frame
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ASSERT_TRUE(a.priorityHigherThan(b));
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ASSERT_TRUE(b.priorityLowerThan(a));
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a.id = 123 | CanFrame::FlagRTR; // Both RTR arbitrate as usually
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b.id = 122 | CanFrame::FlagRTR;
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ASSERT_TRUE(a.priorityLowerThan(b));
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ASSERT_TRUE(b.priorityHigherThan(a));
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}
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TEST(CanFrame, ToString)
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{
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uavcan::CanFrame frame = makeCanFrame(123, "\x01\x02\x03\x04" "1234", EXT);
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EXPECT_EQ("0x0000007b 01 02 03 04 31 32 33 34 '....1234'", frame.toString());
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EXPECT_TRUE(frame.toString() == frame.toString(uavcan::CanFrame::StrAligned));
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frame = makeCanFrame(123, "z", EXT);
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EXPECT_EQ("0x0000007b 7a 'z'", frame.toString(uavcan::CanFrame::StrAligned));
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EXPECT_EQ("0x0000007b 7a 'z'", frame.toString());
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EXPECT_EQ(" 0x141 61 62 63 64 aa bb cc dd 'abcd....'",
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makeCanFrame(321, "abcd" "\xaa\xbb\xcc\xdd", STD).toString(uavcan::CanFrame::StrAligned));
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EXPECT_EQ(" 0x100 ''",
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makeCanFrame(256, "", STD).toString(uavcan::CanFrame::StrAligned));
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EXPECT_EQ("0x100 ''",
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makeCanFrame(256, "", STD).toString());
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EXPECT_EQ("0x141 61 62 63 64 aa bb cc dd 'abcd....'",
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makeCanFrame(321, "abcd" "\xaa\xbb\xcc\xdd", STD).toString());
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}
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