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Show/hide line numbers test_node_test.cpp Source File

test_node_test.cpp

00001 /*
00002  * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
00003  */
00004 
00005 #include <gtest/gtest.h>
00006 #include "test_node.hpp"
00007 
00008 
00009 TEST(TestNode, TestNetwork)
00010 {
00011     TestNetwork<4> nwk;
00012 
00013     uavcan::CanFrame frame;
00014     for (uint8_t i = 0; i < 8; i++)
00015     {
00016         frame.data[i] = i;
00017     }
00018     frame.id = 1234U;
00019 
00020     ASSERT_EQ(1, nwk.nodes[0]->can_driver.send(frame, uavcan::MonotonicTime(), uavcan::CanIOFlags()));
00021 
00022     for (int i = 1; i < 4; i++)
00023     {
00024         uavcan::CanFrame rx;
00025         uavcan::MonotonicTime ts_mono;
00026         uavcan::UtcTime ts_utc;
00027         uavcan::CanIOFlags flags = 0;
00028         ASSERT_EQ(1, nwk.nodes[i]->can_driver.receive(rx, ts_mono, ts_utc, flags));
00029 
00030         ASSERT_TRUE(rx == frame);
00031     }
00032 }
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