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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-27 16:30:35 +08:00
Pavel Kirienko
90 lines
3.8 KiB
C++
90 lines
3.8 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/transport/outgoing_transfer_registry.hpp>
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#include "../clock.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(tsMono(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(321, uavcan::TransferTypeMessageBroadcast, 0),
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OutgoingTransferRegistryKey(213, uavcan::TransferTypeServiceRequest, 2),
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OutgoingTransferRegistryKey(312, 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], tsMono(1000000))->get());
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ASSERT_EQ(0, otr.accessOrCreate(keys[1], tsMono(1000000))->get());
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ASSERT_EQ(0, otr.accessOrCreate(keys[2], tsMono(1000000))->get());
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ASSERT_EQ(0, otr.accessOrCreate(keys[3], tsMono(1000000))->get());
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ASSERT_FALSE(otr.accessOrCreate(keys[4], tsMono(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], tsMono(2000000))->increment();
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otr.accessOrCreate(keys[0], tsMono(4000000))->increment();
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otr.accessOrCreate(keys[0], tsMono(3000000))->increment();
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ASSERT_EQ(3, otr.accessOrCreate(keys[0], tsMono(5000000))->get());
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otr.accessOrCreate(keys[2], tsMono(2000000))->increment();
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otr.accessOrCreate(keys[2], tsMono(3000000))->increment();
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ASSERT_EQ(2, otr.accessOrCreate(keys[2], tsMono(6000000))->get());
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otr.accessOrCreate(keys[3], tsMono(9000000))->increment();
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ASSERT_EQ(1, otr.accessOrCreate(keys[3], tsMono(4000000))->get());
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ASSERT_EQ(0, otr.accessOrCreate(keys[1], tsMono(4000000))->get());
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ASSERT_FALSE(otr.accessOrCreate(keys[4], tsMono(1000000))); // Still OOM
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/*
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* Checking existence
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* Exist: 0, 1, 2, 3
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* Does not exist: 4
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*/
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ASSERT_TRUE(otr.exists(keys[1].getDataTypeID(), keys[1].getTransferType()));
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ASSERT_TRUE(otr.exists(keys[0].getDataTypeID(), keys[0].getTransferType()));
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ASSERT_TRUE(otr.exists(keys[3].getDataTypeID(), keys[3].getTransferType()));
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ASSERT_TRUE(otr.exists(keys[2].getDataTypeID(), keys[2].getTransferType()));
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ASSERT_FALSE(otr.exists(keys[1].getDataTypeID(), keys[2].getTransferType())); // Invalid combination
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ASSERT_FALSE(otr.exists(keys[0].getDataTypeID(), keys[1].getTransferType())); // Invalid combination
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ASSERT_FALSE(otr.exists(keys[4].getDataTypeID(), keys[4].getTransferType())); // Plain missing
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/*
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* Cleaning up
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*/
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otr.cleanup(tsMono(4000001)); // Kills 1, 3
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ASSERT_EQ(0, otr.accessOrCreate(keys[1], tsMono(1000000))->get());
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ASSERT_EQ(0, otr.accessOrCreate(keys[3], tsMono(1000000))->get());
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otr.accessOrCreate(keys[1], tsMono(5000000))->increment();
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otr.accessOrCreate(keys[3], tsMono(5000000))->increment();
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ASSERT_EQ(3, otr.accessOrCreate(keys[0], tsMono(5000000))->get());
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ASSERT_EQ(2, otr.accessOrCreate(keys[2], tsMono(6000000))->get());
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otr.cleanup(tsMono(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], tsMono(1000000))->get());
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ASSERT_EQ(0, otr.accessOrCreate(keys[1], tsMono(1000000))->get());
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ASSERT_EQ(0, otr.accessOrCreate(keys[3], tsMono(1000000))->get());
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ASSERT_EQ(2, otr.accessOrCreate(keys[2], tsMono(1000000))->get());
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otr.cleanup(tsMono(5000001)); // Frees some memory for 4
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ASSERT_EQ(0, otr.accessOrCreate(keys[0], tsMono(1000000))->get());
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}
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