Diff: libuavcan/test/protocol/node_status_monitor.cpp

Revision:

0:dfe6edabb8ec

diff -r 000000000000 -r dfe6edabb8ec libuavcan/test/protocol/node_status_monitor.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/libuavcan/test/protocol/node_status_monitor.cpp	Sat Apr 14 10:25:32 2018 +0000
@@ -0,0 +1,176 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/protocol/node_status_monitor.hpp>
+#include <uavcan/protocol/node_status_provider.hpp>
+#include "helpers.hpp"
+
+static void publishNodeStatus(CanDriverMock& can, uavcan::NodeID node_id,
+                              uavcan::uint8_t health, uavcan::uint8_t mode,
+                              uavcan::uint32_t uptime_sec, uavcan::TransferID tid)
+{
+    uavcan::protocol::NodeStatus msg;
+    msg.health     = health;
+    msg.mode       = mode;
+    msg.uptime_sec = uptime_sec;
+    emulateSingleFrameBroadcastTransfer(can, node_id, msg, tid);
+}
+
+
+static void shortSpin(TestNode& node)
+{
+    ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(10)));
+}
+
+
+TEST(NodeStatusMonitor, Basic)
+{
+    using uavcan::protocol::NodeStatus;
+    using uavcan::NodeID;
+
+    SystemClockMock clock_mock(100);
+    clock_mock.monotonic_auto_advance = 1000;
+
+    CanDriverMock can(2, clock_mock);
+
+    TestNode node(can, clock_mock, 64);
+
+    uavcan::GlobalDataTypeRegistry::instance().reset();
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg1;
+
+    uavcan::NodeStatusMonitor nsm(node);
+    ASSERT_LE(0, nsm.start());
+
+    ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(10)));
+
+    /*
+     * Empty NSM, no nodes were registered yet
+     */
+    ASSERT_FALSE(nsm.findNodeWithWorstHealth().isValid());
+
+    ASSERT_FALSE(nsm.isNodeKnown(uavcan::NodeID(123)));
+    ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(123)).mode);
+
+    /*
+     * Some new status messages
+     */
+    publishNodeStatus(can, 10, NodeStatus::HEALTH_OK, NodeStatus::MODE_OPERATIONAL, 12, 0);
+    shortSpin(node);
+    ASSERT_EQ(NodeID(10), nsm.findNodeWithWorstHealth());
+
+    publishNodeStatus(can, 9,  NodeStatus::HEALTH_WARNING, NodeStatus::MODE_INITIALIZATION, 0, 0);
+    shortSpin(node);
+    ASSERT_EQ(NodeID(9), nsm.findNodeWithWorstHealth());
+
+    publishNodeStatus(can, 11, NodeStatus::HEALTH_CRITICAL, NodeStatus::MODE_MAINTENANCE, 999, 0);
+    shortSpin(node);
+    ASSERT_EQ(NodeID(11), nsm.findNodeWithWorstHealth());
+
+    ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(10)));
+    ASSERT_EQ(NodeStatus::MODE_OPERATIONAL, nsm.getNodeStatus(uavcan::NodeID(10)).mode);
+    ASSERT_EQ(NodeStatus::HEALTH_OK, nsm.getNodeStatus(uavcan::NodeID(10)).health);
+
+    ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(9)));
+    ASSERT_EQ(NodeStatus::MODE_INITIALIZATION, nsm.getNodeStatus(uavcan::NodeID(9)).mode);
+    ASSERT_EQ(NodeStatus::HEALTH_WARNING, nsm.getNodeStatus(uavcan::NodeID(9)).health);
+
+    ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(11)));
+    ASSERT_EQ(NodeStatus::MODE_MAINTENANCE, nsm.getNodeStatus(uavcan::NodeID(11)).mode);
+    ASSERT_EQ(NodeStatus::HEALTH_CRITICAL, nsm.getNodeStatus(uavcan::NodeID(11)).health);
+
+    /*
+     * Timeout
+     */
+    std::cout << "Starting timeout test, current monotime is " << clock_mock.monotonic << std::endl;
+
+    clock_mock.advance(500000);
+    shortSpin(node);
+    ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(10)));
+    ASSERT_EQ(NodeStatus::MODE_OPERATIONAL, nsm.getNodeStatus(uavcan::NodeID(10)).mode);
+    ASSERT_EQ(NodeStatus::HEALTH_OK, nsm.getNodeStatus(uavcan::NodeID(10)).health);
+
+    clock_mock.advance(500000);
+    shortSpin(node);
+    ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(9)));
+    ASSERT_EQ(NodeStatus::MODE_INITIALIZATION, nsm.getNodeStatus(uavcan::NodeID(9)).mode);
+    ASSERT_EQ(NodeStatus::HEALTH_WARNING, nsm.getNodeStatus(uavcan::NodeID(9)).health);
+
+    clock_mock.advance(500000);
+    shortSpin(node);
+    ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(11)));
+    ASSERT_EQ(NodeStatus::MODE_MAINTENANCE, nsm.getNodeStatus(uavcan::NodeID(11)).mode);
+    ASSERT_EQ(NodeStatus::HEALTH_CRITICAL, nsm.getNodeStatus(uavcan::NodeID(11)).health);
+
+    /*
+     * Will timeout now
+     */
+    clock_mock.advance(4000000);
+    shortSpin(node);
+
+    ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(10)));
+    ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(10)).mode);
+    ASSERT_EQ(NodeStatus::HEALTH_OK, nsm.getNodeStatus(uavcan::NodeID(10)).health);
+
+    ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(9)));
+    ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(9)).mode);
+    ASSERT_EQ(NodeStatus::HEALTH_WARNING, nsm.getNodeStatus(uavcan::NodeID(9)).health);
+
+    ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(11)));
+    ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(11)).mode);
+    ASSERT_EQ(NodeStatus::HEALTH_CRITICAL, nsm.getNodeStatus(uavcan::NodeID(11)).health);
+
+    /*
+     * Recovering one node, adding two extra
+     */
+    publishNodeStatus(can, 11, NodeStatus::HEALTH_WARNING, NodeStatus::MODE_OPERATIONAL, 999, 1);
+    shortSpin(node);
+
+    publishNodeStatus(can, 127, NodeStatus::HEALTH_WARNING, NodeStatus::MODE_OPERATIONAL, 9999, 1);
+    shortSpin(node);
+
+    publishNodeStatus(can, 1, NodeStatus::HEALTH_OK, NodeStatus::MODE_OPERATIONAL, 1234, 1);
+    shortSpin(node);
+
+    /*
+     * Making sure OFFLINE is still worst status
+     */
+    ASSERT_EQ(NodeID(9), nsm.findNodeWithWorstHealth());
+
+    /*
+     * Final validation
+     */
+    ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(10)));
+    ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(10)).mode);
+    ASSERT_EQ(NodeStatus::HEALTH_OK, nsm.getNodeStatus(uavcan::NodeID(10)).health);
+
+    ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(9)));
+    ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(9)).mode);
+    ASSERT_EQ(NodeStatus::HEALTH_WARNING, nsm.getNodeStatus(uavcan::NodeID(9)).health);
+
+    ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(11)));
+    ASSERT_EQ(NodeStatus::MODE_OPERATIONAL, nsm.getNodeStatus(uavcan::NodeID(11)).mode);
+    ASSERT_EQ(NodeStatus::HEALTH_WARNING, nsm.getNodeStatus(uavcan::NodeID(11)).health);
+
+    ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(127)));
+    ASSERT_EQ(NodeStatus::MODE_OPERATIONAL, nsm.getNodeStatus(uavcan::NodeID(127)).mode);
+    ASSERT_EQ(NodeStatus::HEALTH_WARNING, nsm.getNodeStatus(uavcan::NodeID(127)).health);
+
+    ASSERT_TRUE(nsm.isNodeKnown(uavcan::NodeID(1)));
+    ASSERT_EQ(NodeStatus::MODE_OPERATIONAL, nsm.getNodeStatus(uavcan::NodeID(1)).mode);
+    ASSERT_EQ(NodeStatus::HEALTH_OK, nsm.getNodeStatus(uavcan::NodeID(1)).health);
+
+    /*
+     * Forgetting
+     */
+    nsm.forgetNode(127);
+    ASSERT_FALSE(nsm.isNodeKnown(uavcan::NodeID(127)));
+    ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(127)).mode);
+    ASSERT_EQ(NodeStatus::HEALTH_CRITICAL, nsm.getNodeStatus(uavcan::NodeID(127)).health);
+
+    nsm.forgetNode(9);
+    ASSERT_FALSE(nsm.isNodeKnown(uavcan::NodeID(9)));
+    ASSERT_EQ(NodeStatus::MODE_OFFLINE, nsm.getNodeStatus(uavcan::NodeID(9)).mode);
+    ASSERT_EQ(NodeStatus::HEALTH_CRITICAL, nsm.getNodeStatus(uavcan::NodeID(9)).health);
+}