server.cpp

00001 /*
00002  * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
00003  */
00004 
00005 #include <gtest/gtest.h>
00006 #include <uavcan/protocol/dynamic_node_id_server/centralized.hpp>
00007 #include <uavcan/protocol/dynamic_node_id_client.hpp>
00008 #include "../../helpers.hpp"
00009 #include "../event_tracer.hpp"
00010 #include "../../helpers.hpp"
00011 #include "../memory_storage_backend.hpp"
00012 
00013 using uavcan::dynamic_node_id_server::UniqueID;
00014 
00015 
00016 TEST(dynamic_node_id_server_centralized_Server, Basic)
00017 {
00018     using namespace uavcan::dynamic_node_id_server;
00019     using namespace uavcan::protocol::dynamic_node_id;
00020     using namespace uavcan::protocol::dynamic_node_id::server;
00021 
00022     uavcan::GlobalDataTypeRegistry::instance().reset();
00023     uavcan::DefaultDataTypeRegistrator<Allocation> _reg1;
00024     uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg2;
00025     uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg3;
00026 
00027     EventTracer tracer;
00028     MemoryStorageBackend storage;
00029 
00030     // Node A is Allocator, Node B is Allocatee
00031     InterlinkedTestNodesWithSysClock nodes(uavcan::NodeID(10), uavcan::NodeID::Broadcast);
00032 
00033     UniqueID own_unique_id;
00034     own_unique_id[0] = 0xAA;
00035     own_unique_id[3] = 0xCC;
00036     own_unique_id[7] = 0xEE;
00037     own_unique_id[9] = 0xBB;
00038 
00039     /*
00040      * Server
00041      */
00042     uavcan::dynamic_node_id_server::CentralizedServer server(nodes.a, storage, tracer);
00043 
00044     ASSERT_LE(0, server.init(own_unique_id));
00045 
00046     ASSERT_EQ(1, server.getNumAllocations());   // Server's own node ID
00047 
00048     /*
00049      * Client
00050      */
00051     uavcan::DynamicNodeIDClient client(nodes.b);
00052     uavcan::protocol::HardwareVersion::FieldTypes::unique_id unique_id;
00053     for (uavcan::uint8_t i = 0; i < unique_id.size(); i++)
00054     {
00055         unique_id[i] = i;
00056     }
00057     const uavcan::NodeID PreferredNodeID = 42;
00058     ASSERT_LE(0, client.start(unique_id, PreferredNodeID));
00059 
00060     /*
00061      * Fire
00062      */
00063     nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(15000));
00064 
00065     ASSERT_TRUE(client.isAllocationComplete());
00066     ASSERT_EQ(PreferredNodeID, client.getAllocatedNodeID());
00067 
00068     ASSERT_EQ(2, server.getNumAllocations());   // Server's own node ID + client
00069 }
00070 
00071 
00072 TEST(dynamic_node_id_server_centralized, ObjectSizes)
00073 {
00074     using namespace uavcan::dynamic_node_id_server;
00075     std::cout << "centralized::Storage: " << sizeof(centralized::Storage) << std::endl;
00076     std::cout << "centralized::Server:  " << sizeof(centralized::Server) << std::endl;
00077     std::cout << "NodeDiscoverer:       " << sizeof(NodeDiscoverer) << std::endl;
00078 }