Diff: libuavcan/test/transport/incoming_transfer.cpp

Revision:

0:dfe6edabb8ec

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/libuavcan/test/transport/incoming_transfer.cpp	Sat Apr 14 10:25:32 2018 +0000
@@ -0,0 +1,110 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <algorithm>
+#include <gtest/gtest.h>
+#include <uavcan/transport/transfer_listener.hpp>
+#include "../clock.hpp"
+#include "transfer_test_helpers.hpp"
+
+
+static uavcan::RxFrame makeFrame()
+{
+    uavcan::RxFrame frame(uavcan::Frame(123, uavcan::TransferTypeMessageBroadcast, 1, uavcan::NodeID::Broadcast, 0),
+                          tsMono(123), tsUtc(456), 0);
+    uint8_t data[8];
+    for (uint8_t i = 0; i < sizeof(data); i++)
+    {
+        data[i] = i;
+    }
+    frame.setPayload(data, sizeof(data));
+    frame.setEndOfTransfer(true);
+    return frame;
+}
+
+
+static bool match(const uavcan::IncomingTransfer& it, const uavcan::RxFrame& frame,
+                  const uint8_t* payload, unsigned payload_len)
+{
+    // Fields extracted from the frame struct
+    EXPECT_EQ(it.getMonotonicTimestamp(), frame.getMonotonicTimestamp());
+    EXPECT_EQ(it.getUtcTimestamp(),       frame.getUtcTimestamp());
+    EXPECT_EQ(it.getSrcNodeID(),          frame.getSrcNodeID());
+    EXPECT_EQ(it.getTransferID(),         frame.getTransferID());
+    EXPECT_EQ(it.getTransferType(),       frame.getTransferType());
+
+    // Payload comparison
+    static const unsigned BUFLEN = 1024;
+    uint8_t buf_reference[BUFLEN], buf_actual[BUFLEN];
+
+    if (payload_len > BUFLEN)
+    {
+        std::cout << "match(): Payload is too long" << std::endl;
+        exit(1);
+    }
+
+    std::fill(buf_reference, buf_reference + BUFLEN, 0);
+    std::fill(buf_actual, buf_actual + BUFLEN, 0);
+    std::copy(payload, payload + payload_len, buf_reference);
+
+    EXPECT_EQ(payload_len, it.read(0, buf_actual, payload_len * 3));
+    EXPECT_EQ(0, it.read(payload_len, buf_actual, payload_len * 3));
+
+    return std::equal(buf_reference, buf_reference + BUFLEN, buf_actual);
+}
+
+
+TEST(SingleFrameIncomingTransfer, Basic)
+{
+    using uavcan::RxFrame;
+    using uavcan::SingleFrameIncomingTransfer;
+
+    const RxFrame frame = makeFrame();
+    SingleFrameIncomingTransfer it(frame);
+
+    ASSERT_TRUE(match(it, frame, frame.getPayloadPtr(), frame.getPayloadLen()));
+}
+
+
+TEST(MultiFrameIncomingTransfer, Basic)
+{
+    using uavcan::RxFrame;
+    using uavcan::MultiFrameIncomingTransfer;
+
+    uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 100, uavcan::MemPoolBlockSize> poolmgr;
+    uavcan::TransferBufferManager bufmgr(256, poolmgr);
+
+    const RxFrame frame = makeFrame();
+    uavcan::TransferBufferManagerKey bufmgr_key(frame.getSrcNodeID(), frame.getTransferType());
+    uavcan::TransferBufferAccessor tba(bufmgr, bufmgr_key);
+
+    MultiFrameIncomingTransfer it(frame.getMonotonicTimestamp(), frame.getUtcTimestamp(), frame, tba);
+
+    /*
+     * Empty read must fail
+     */
+    uint8_t data_byte = 0;
+    ASSERT_GT(0, it.read(0, &data_byte, 1));  // Error - no such buffer
+
+    /*
+     * Filling the test data
+     */
+    const std::string data = "123Hello world";
+    const uint8_t* const data_ptr = reinterpret_cast<const uint8_t*>(data.c_str());
+    ASSERT_FALSE(bufmgr.access(bufmgr_key));
+    ASSERT_TRUE(bufmgr.create(bufmgr_key));
+    ASSERT_EQ(data.length(), bufmgr.access(bufmgr_key)->write(0, data_ptr, unsigned(data.length())));
+
+    /*
+     * Check
+     */
+    ASSERT_TRUE(match(it, frame, data_ptr, unsigned(data.length())));
+
+    /*
+     * Buffer release
+     */
+    ASSERT_TRUE(bufmgr.access(bufmgr_key));
+    it.release();
+    ASSERT_FALSE(bufmgr.access(bufmgr_key));
+}