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117 lines
4.3 KiB
C++
117 lines
4.3 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 <uavcan/protocol/node_status_provider.hpp>
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#include "helpers.hpp"
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TEST(NodeStatusProvider, Basic)
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{
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InterlinkedTestNodesWithSysClock nodes;
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uavcan::NodeStatusProvider nsp(nodes.a);
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/*
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* Initialization
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*/
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uavcan::protocol::HardwareVersion hwver;
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hwver.major = 3;
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hwver.minor = 14;
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uavcan::protocol::SoftwareVersion swver;
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swver.major = 2;
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swver.minor = 18;
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swver.vcs_commit = 0x600DF00D;
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nsp.setHardwareVersion(hwver);
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nsp.setSoftwareVersion(swver);
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ASSERT_TRUE(nsp.getName().empty());
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nsp.setName("superluminal_communication_unit");
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ASSERT_STREQ("superluminal_communication_unit", nsp.getName().c_str());
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ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_OK, nsp.getHealth());
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ASSERT_EQ(uavcan::protocol::NodeStatus::MODE_INITIALIZATION, nsp.getMode());
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nsp.setHealthError();
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nsp.setModeOperational();
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ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_ERROR, nsp.getHealth());
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ASSERT_EQ(uavcan::protocol::NodeStatus::MODE_OPERATIONAL, nsp.getMode());
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// Will fail - types are not registered
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uavcan::GlobalDataTypeRegistry::instance().reset();
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ASSERT_GT(0, nsp.startAndPublish());
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uavcan::GlobalDataTypeRegistry::instance().reset();
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uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg1;
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uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg2;
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ASSERT_LE(0, nsp.startAndPublish());
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// Checking the publishing rate settings
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ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MAX_BROADCASTING_PERIOD_MS),
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nsp.getStatusPublicationPeriod());
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nsp.setStatusPublicationPeriod(uavcan::MonotonicDuration());
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ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MIN_BROADCASTING_PERIOD_MS),
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nsp.getStatusPublicationPeriod());
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nsp.setStatusPublicationPeriod(uavcan::MonotonicDuration::fromMSec(3600 * 1000 * 24));
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ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MAX_BROADCASTING_PERIOD_MS),
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nsp.getStatusPublicationPeriod());
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/*
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* Initial status publication
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*/
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SubscriberWithCollector<uavcan::protocol::NodeStatus> status_sub(nodes.b);
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ASSERT_LE(0, status_sub.start());
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ASSERT_FALSE(status_sub.collector.msg.get()); // No data yet
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nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
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ASSERT_TRUE(status_sub.collector.msg.get()); // Was published at startup
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ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_OK, status_sub.collector.msg->health);
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ASSERT_EQ(0, status_sub.collector.msg->vendor_specific_status_code);
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ASSERT_GE(1, status_sub.collector.msg->uptime_sec);
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/*
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* Altering the vendor-specific status code, forcePublish()-ing it and checking the result
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*/
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ASSERT_EQ(0, nsp.getVendorSpecificStatusCode());
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nsp.setVendorSpecificStatusCode(1234);
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ASSERT_EQ(1234, nsp.getVendorSpecificStatusCode());
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ASSERT_LE(0, nsp.forcePublish());
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nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
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ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_OK, status_sub.collector.msg->health);
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ASSERT_EQ(1234, status_sub.collector.msg->vendor_specific_status_code);
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ASSERT_GE(1, status_sub.collector.msg->uptime_sec);
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/*
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* Explicit node info request
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*/
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ServiceClientWithCollector<uavcan::protocol::GetNodeInfo> gni_cln(nodes.b);
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nsp.setHealthCritical();
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ASSERT_FALSE(gni_cln.collector.result.get()); // No data yet
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ASSERT_LE(0, gni_cln.call(1, uavcan::protocol::GetNodeInfo::Request()));
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nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
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ASSERT_TRUE(gni_cln.collector.result.get()); // Response must have been delivered
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ASSERT_TRUE(gni_cln.collector.result->isSuccessful());
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ASSERT_EQ(1, gni_cln.collector.result->getCallID().server_node_id.get());
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ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_CRITICAL,
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gni_cln.collector.result->getResponse().status.health);
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ASSERT_TRUE(hwver == gni_cln.collector.result->getResponse().hardware_version);
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ASSERT_TRUE(swver == gni_cln.collector.result->getResponse().software_version);
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ASSERT_EQ("superluminal_communication_unit", gni_cln.collector.result->getResponse().name);
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}
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