mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-27 19:00:35 +08:00
Pavel Kirienko
257 lines
8.4 KiB
C++
257 lines
8.4 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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#include "../clock.hpp"
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#include "can/can.hpp"
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TEST(Frame, FrameParseCompile)
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{
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using uavcan::Frame;
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using uavcan::CanFrame;
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using uavcan::TransferID;
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using uavcan::TransferType;
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Frame frame;
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const uint32_t can_id =
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(2 << 0) | // Transfer ID
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(1 << 3) | // Last Frame
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(29 << 4) | // Frame Index
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(42 << 10) | // Source Node ID
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(uavcan::TransferTypeMessageBroadcast << 17) |
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(456 << 19); // Data Type ID
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const std::string payload_string = "hello";
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/*
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* Parse
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*/
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// Invalid CAN frames
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ASSERT_FALSE(frame.parse(CanFrame(can_id | CanFrame::FlagRTR, (const uint8_t*)"", 0)));
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ASSERT_FALSE(frame.parse(makeCanFrame(can_id, payload_string, STD)));
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// Valid
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ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
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EXPECT_EQ(TransferID(2), frame.getTransferID());
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EXPECT_TRUE(frame.isLast());
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EXPECT_EQ(29, frame.getIndex());
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EXPECT_EQ(uavcan::NodeID(42), frame.getSrcNodeID());
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EXPECT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
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EXPECT_EQ(456, frame.getDataTypeID().get());
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EXPECT_EQ(payload_string.length(), frame.getPayloadLen());
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EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
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payload_string.begin()));
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/*
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* Compile
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*/
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CanFrame can_frame;
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ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
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ASSERT_TRUE(frame.compile(can_frame));
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ASSERT_EQ(can_frame, makeCanFrame(can_id, payload_string, EXT));
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EXPECT_EQ(payload_string.length(), can_frame.dlc);
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EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc, payload_string.begin()));
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/*
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* Comparison
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*/
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ASSERT_FALSE(Frame() == frame);
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ASSERT_TRUE(Frame() != frame);
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frame = Frame();
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ASSERT_TRUE(Frame() == frame);
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ASSERT_FALSE(Frame() != frame);
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}
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TEST(Frame, FrameParsing)
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{
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using uavcan::Frame;
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using uavcan::CanFrame;
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using uavcan::NodeID;
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using uavcan::TransferID;
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CanFrame can;
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Frame frame;
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ASSERT_FALSE(frame.parse(can));
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for (unsigned i = 0; i < sizeof(CanFrame::data); i++)
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{
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can.data[i] = uint8_t(i | (i << 4));
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}
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// CAN ID field order: Transfer ID, Last Frame, Frame Index, Source Node ID, Transfer Type, Data Type ID
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/*
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* SFT broadcast
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*/
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can.id = CanFrame::FlagEFF |
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(2 << 0) | (1 << 3) | (0 << 4) | (42 << 10) | (uavcan::TransferTypeMessageBroadcast << 17) | (456 << 19);
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ASSERT_TRUE(frame.parse(can));
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ASSERT_TRUE(frame.isFirst());
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ASSERT_TRUE(frame.isLast());
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ASSERT_EQ(0, frame.getIndex());
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ASSERT_EQ(NodeID(42), frame.getSrcNodeID());
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ASSERT_EQ(NodeID::Broadcast, frame.getDstNodeID());
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ASSERT_EQ(456, frame.getDataTypeID().get());
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ASSERT_EQ(TransferID(2), frame.getTransferID());
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ASSERT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
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ASSERT_EQ(sizeof(CanFrame::data), frame.getMaxPayloadLen());
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/*
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* SFT addressed
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*/
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can.id = CanFrame::FlagEFF |
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(2 << 0) | (1 << 3) | (0 << 4) | (42 << 10) | (uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
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ASSERT_FALSE(frame.parse(can)); // No payload - failure
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can.dlc = 1;
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can.data[0] = 0xFF;
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ASSERT_FALSE(frame.parse(can)); // Invalid first byte - failure
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can.data[0] = 127;
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ASSERT_TRUE(frame.parse(can));
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ASSERT_TRUE(frame.isFirst());
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ASSERT_TRUE(frame.isLast());
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ASSERT_EQ(0, frame.getIndex());
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ASSERT_EQ(NodeID(42), frame.getSrcNodeID());
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ASSERT_EQ(NodeID(127), frame.getDstNodeID());
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ASSERT_EQ(456, frame.getDataTypeID().get());
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ASSERT_EQ(TransferID(2), frame.getTransferID());
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ASSERT_EQ(uavcan::TransferTypeMessageUnicast, frame.getTransferType());
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ASSERT_EQ(sizeof(CanFrame::data) - 1, frame.getMaxPayloadLen());
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/*
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* MFT invalid - unterminated transfer
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*/
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can.id = CanFrame::FlagEFF |
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(2 << 0) | (0 << 3) | (Frame::MaxIndex << 4) | (42 << 10) |
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(uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
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ASSERT_FALSE(frame.parse(can));
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/*
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* MFT invalid - invalid frame index
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*/
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can.id = CanFrame::FlagEFF |
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(2 << 0) | (0 << 3) | (63 << 4) | (42 << 10) | (uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
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ASSERT_FALSE(frame.parse(can));
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/*
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* Malformed frames
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*/
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can.id = CanFrame::FlagEFF |
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(2 << 0) | (1 << 3) | (0 << 4) | (42 << 10) | (uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
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can.dlc = 3;
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can.data[0] = 42;
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ASSERT_FALSE(frame.parse(can)); // Src == Dst Node ID
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can.data[0] = 41;
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ASSERT_TRUE(frame.parse(can));
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can.id = CanFrame::FlagEFF | // cppcheck-suppress duplicateExpression
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(2 << 0) | (1 << 3) | (0 << 4) | (0 << 10) | (uavcan::TransferTypeMessageUnicast << 17) | (456 << 19);
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ASSERT_FALSE(frame.parse(can)); // Broadcast Src Node ID with unicast transfer
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can.id = CanFrame::FlagEFF | // cppcheck-suppress duplicateExpression
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(2 << 0) | (0 << 3) | (0 << 4) | (0 << 10) | (uavcan::TransferTypeMessageBroadcast << 17) | (456 << 19);
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ASSERT_FALSE(frame.parse(can)); // Broadcast Src Node ID with multiframe broadcast transfer
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/*
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* Broadcast SNID exceptions
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*/
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can.id = CanFrame::FlagEFF | // cppcheck-suppress duplicateExpression
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(2 << 0) | (1 << 3) | (0 << 4) | (0 << 10) | (uavcan::TransferTypeMessageBroadcast << 17) | (456 << 19);
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ASSERT_TRUE(frame.parse(can)); // Broadcast Src Node ID with single frame broadcast transfer
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}
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TEST(Frame, RxFrameParse)
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{
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using uavcan::Frame;
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using uavcan::RxFrame;
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using uavcan::CanFrame;
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using uavcan::CanRxFrame;
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CanRxFrame can_rx_frame;
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RxFrame rx_frame;
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// Failure
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ASSERT_FALSE(rx_frame.parse(can_rx_frame));
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// Valid
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can_rx_frame.ts_mono = uavcan::MonotonicTime::fromUSec(1); // Zero is not allowed
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can_rx_frame.id =
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CanFrame::FlagEFF |
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(2 << 0) | // Transfer ID
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(1 << 3) | // Last Frame
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(29 << 4) | // Frame Index
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(42 << 10) | // Source Node ID
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(uavcan::TransferTypeMessageBroadcast << 17) |
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(456 << 19); // Data Type ID
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ASSERT_TRUE(rx_frame.parse(can_rx_frame));
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ASSERT_EQ(1, rx_frame.getMonotonicTimestamp().toUSec());
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ASSERT_EQ(0, rx_frame.getIfaceIndex());
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can_rx_frame.ts_mono = tsMono(123);
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can_rx_frame.iface_index = 2;
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Frame frame(456, uavcan::TransferTypeMessageBroadcast, 1, uavcan::NodeID::Broadcast, 0, 0);
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ASSERT_TRUE(frame.compile(can_rx_frame));
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ASSERT_TRUE(rx_frame.parse(can_rx_frame));
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ASSERT_EQ(123, rx_frame.getMonotonicTimestamp().toUSec());
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ASSERT_EQ(2, rx_frame.getIfaceIndex());
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ASSERT_EQ(456, rx_frame.getDataTypeID().get());
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ASSERT_EQ(uavcan::TransferTypeMessageBroadcast, rx_frame.getTransferType());
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}
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TEST(Frame, FrameToString)
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{
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using uavcan::Frame;
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using uavcan::RxFrame;
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// RX frame default
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RxFrame rx_frame;
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EXPECT_EQ("dtid=65535 tt=4 snid=255 dnid=255 idx=0 last=0 tid=0 payload=[] ts_m=0.000000 ts_utc=0.000000 iface=0",
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rx_frame.toString());
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// RX frame max len
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rx_frame = RxFrame(Frame(uavcan::DataTypeID::Max, uavcan::TransferTypeMessageUnicast,
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uavcan::NodeID::Max, uavcan::NodeID::Max - 1, Frame::MaxIndex,
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uavcan::TransferID::Max, true),
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uavcan::MonotonicTime::getMax(), uavcan::UtcTime::getMax(), 3);
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uint8_t data[8];
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for (unsigned i = 0; i < sizeof(data); i++)
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{
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data[i] = uint8_t(i);
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}
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rx_frame.setPayload(data, sizeof(data));
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EXPECT_EQ("dtid=1023 tt=3 snid=127 dnid=126 idx=62 last=1 tid=7 payload=[00 01 02 03 04 05 06] "
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"ts_m=18446744073709.551615 ts_utc=18446744073709.551615 iface=3",
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rx_frame.toString());
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// Plain frame default
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Frame frame;
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EXPECT_EQ("dtid=65535 tt=4 snid=255 dnid=255 idx=0 last=0 tid=0 payload=[]", frame.toString());
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// Plain frame max len
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frame = rx_frame;
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EXPECT_EQ("dtid=1023 tt=3 snid=127 dnid=126 idx=62 last=1 tid=7 payload=[00 01 02 03 04 05 06]", frame.toString());
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}
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