mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-29 07:30:34 +08:00
Pavel Kirienko
105 lines
3.0 KiB
C++
105 lines
3.0 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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TEST(CanDriverMock, Basic)
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{
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using uavcan::CanFrame;
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using uavcan::CanSelectMasks;
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SystemClockMock clockmock;
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CanDriverMock driver(3, clockmock);
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ASSERT_EQ(3, driver.getNumIfaces());
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// All WR, no RD
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CanSelectMasks masks;
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masks.write = 7;
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masks.read = 7;
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EXPECT_LT(0, driver.select(masks, uavcan::MonotonicTime::fromUSec(100)));
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EXPECT_EQ(7, masks.write);
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EXPECT_EQ(0, masks.read);
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for (unsigned i = 0; i < 3; i++)
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{
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driver.ifaces.at(i).writeable = false;
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}
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// No WR, no RD
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masks.write = 7;
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masks.read = 7;
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EXPECT_EQ(0, driver.select(masks, uavcan::MonotonicTime::fromUSec(100)));
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EXPECT_EQ(0, masks.write);
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EXPECT_EQ(0, masks.read);
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EXPECT_EQ(100, clockmock.monotonic);
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EXPECT_EQ(100, clockmock.utc);
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// No WR, #1 RD
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const CanFrame fr1 = makeCanFrame(123, "foo", EXT);
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driver.ifaces.at(1).pushRx(fr1);
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masks.write = 7;
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masks.read = 6;
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EXPECT_LT(0, driver.select(masks, uavcan::MonotonicTime::fromUSec(100)));
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EXPECT_EQ(0, masks.write);
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EXPECT_EQ(2, masks.read);
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CanFrame fr2;
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uavcan::MonotonicTime ts_monotonic;
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uavcan::UtcTime ts_utc;
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uavcan::CanIOFlags flags = 0;
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EXPECT_EQ(1, driver.getIface(1)->receive(fr2, ts_monotonic, ts_utc, flags));
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EXPECT_EQ(0, flags);
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EXPECT_EQ(fr1, fr2);
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EXPECT_EQ(100, ts_monotonic.toUSec());
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EXPECT_EQ(0, ts_utc.toUSec());
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// #0 WR, #1 RD, Select failure
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driver.ifaces.at(0).writeable = true;
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driver.select_failure = true;
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masks.write = 1;
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masks.read = 7;
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EXPECT_EQ(-1, driver.select(masks, uavcan::MonotonicTime::fromUSec(100)));
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EXPECT_EQ(1, masks.write); // Leaving masks unchanged - the library must ignore them
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EXPECT_EQ(7, masks.read);
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}
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TEST(CanDriverMock, Loopback)
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{
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using uavcan::CanFrame;
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using uavcan::CanSelectMasks;
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SystemClockMock clockmock;
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CanDriverMock driver(1, clockmock);
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CanSelectMasks masks;
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masks.write = 1;
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masks.read = 1;
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EXPECT_LT(0, driver.select(masks, uavcan::MonotonicTime::fromUSec(100)));
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EXPECT_EQ(1, masks.write);
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EXPECT_EQ(0, masks.read);
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clockmock.advance(200);
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CanFrame fr1;
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fr1.id = 123 | CanFrame::FlagEFF;
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EXPECT_EQ(1, driver.getIface(0)->send(fr1, uavcan::MonotonicTime::fromUSec(10000), uavcan::CanIOFlagLoopback));
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masks.write = 0;
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masks.read = 1;
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EXPECT_LT(0, driver.select(masks, uavcan::MonotonicTime::fromUSec(100)));
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EXPECT_EQ(0, masks.write);
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EXPECT_EQ(1, masks.read);
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CanFrame fr2;
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uavcan::MonotonicTime ts_monotonic;
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uavcan::UtcTime ts_utc;
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uavcan::CanIOFlags flags = 0;
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EXPECT_EQ(1, driver.getIface(0)->receive(fr2, ts_monotonic, ts_utc, flags));
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EXPECT_EQ(uavcan::CanIOFlagLoopback, flags);
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EXPECT_EQ(fr1, fr2);
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EXPECT_EQ(200, ts_monotonic.toUSec());
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EXPECT_EQ(0, ts_utc.toUSec());
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}
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