TEST(CanAcceptanceFilter, Basic_test) { uavcan::GlobalDataTypeRegistry::instance().reset(); uavcan::DefaultDataTypeRegistrator<uavcan::equipment::camera_gimbal::AngularCommand> _reg1; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::Sideslip> _reg2; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::TrueAirspeed> _reg3; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::AngleOfAttack> _reg4; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::ahrs::Solution> _reg5; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::StaticPressure> _reg6; uavcan::DefaultDataTypeRegistrator<uavcan::protocol::file::BeginFirmwareUpdate> _reg7; SystemClockDriver clock_driver; CanDriverMock can_driver(1, clock_driver); TestNode node(can_driver, clock_driver, 24); uavcan::Subscriber<uavcan::equipment::camera_gimbal::AngularCommand, SubscriptionListener<uavcan::equipment::camera_gimbal::AngularCommand>::ExtendedBinder> sub_1(node); uavcan::Subscriber<uavcan::equipment::air_data::Sideslip, SubscriptionListener<uavcan::equipment::air_data::Sideslip>::ExtendedBinder> sub_2(node); uavcan::Subscriber<uavcan::equipment::air_data::TrueAirspeed, SubscriptionListener<uavcan::equipment::air_data::TrueAirspeed>::ExtendedBinder> sub_3(node); uavcan::Subscriber<uavcan::equipment::air_data::AngleOfAttack, SubscriptionListener<uavcan::equipment::air_data::AngleOfAttack>::ExtendedBinder> sub_4(node); uavcan::Subscriber<uavcan::equipment::ahrs::Solution, SubscriptionListener<uavcan::equipment::ahrs::Solution>::ExtendedBinder> sub_5(node); uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure, SubscriptionListener<uavcan::equipment::air_data::StaticPressure>::ExtendedBinder> sub_6(node); uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure, SubscriptionListener<uavcan::equipment::air_data::StaticPressure>::ExtendedBinder> sub_6_1(node); uavcan::ServiceServer<uavcan::protocol::file::BeginFirmwareUpdate> server(node); SubscriptionListener<uavcan::equipment::camera_gimbal::AngularCommand> listener_1; SubscriptionListener<uavcan::equipment::air_data::Sideslip> listener_2; SubscriptionListener<uavcan::equipment::air_data::TrueAirspeed> listener_3; SubscriptionListener<uavcan::equipment::air_data::AngleOfAttack> listener_4; SubscriptionListener<uavcan::equipment::ahrs::Solution> listener_5; SubscriptionListener<uavcan::equipment::air_data::StaticPressure> listener_6; sub_1.start(listener_1.bindExtended()); sub_2.start(listener_2.bindExtended()); sub_3.start(listener_3.bindExtended()); sub_4.start(listener_4.bindExtended()); sub_5.start(listener_5.bindExtended()); sub_6.start(listener_6.bindExtended()); sub_6_1.start(listener_6.bindExtended()); server.start(writeServiceServerCallback); std::cout << "Subscribers are initialized ..." << std::endl; uavcan::CanAcceptanceFilterConfigurator anon_test_configuration(node); int configure_filters_assert = anon_test_configuration.configureFilters(); if (configure_filters_assert == 0) { std::cout << "Filters are configured with anonymous configuration..." << std::endl; } const auto& configure_array = anon_test_configuration.getConfiguration(); uint32_t configure_array_size = configure_array.getSize(); ASSERT_EQ(configure_filters_assert, 0); ASSERT_EQ(configure_array_size, 4); for (uint16_t i = 0; i<configure_array_size; i++) { std::cout << "config.ID [" << i << "]= " << configure_array.getByIndex(i)->id << std::endl; std::cout << "config.MK [" << i << "]= " << configure_array.getByIndex(i)->mask << std::endl; } ASSERT_EQ(configure_array.getByIndex(0)->id, 0); ASSERT_EQ(configure_array.getByIndex(0)->mask, 255); ASSERT_EQ(configure_array.getByIndex(1)->id, 256000); ASSERT_EQ(configure_array.getByIndex(1)->mask, 16771968); ASSERT_EQ(configure_array.getByIndex(2)->id, 6272); ASSERT_EQ(configure_array.getByIndex(2)->mask, 32640); ASSERT_EQ(configure_array.getByIndex(3)->id, 262144); ASSERT_EQ(configure_array.getByIndex(3)->mask, 16771200); uavcan::CanAcceptanceFilterConfigurator no_anon_test_confiruration(node); configure_filters_assert = no_anon_test_confiruration.configureFilters (uavcan::CanAcceptanceFilterConfigurator::IgnoreAnonymousMessages); if (configure_filters_assert == 0) { std::cout << "Filters are configured without anonymous configuration..." << std::endl; } const auto& configure_array_2 = no_anon_test_confiruration.getConfiguration(); configure_array_size = configure_array_2.getSize(); ASSERT_EQ(configure_filters_assert, 0); ASSERT_EQ(configure_array_size, 4); for (uint16_t i = 0; i<configure_array_size; i++) { std::cout << "config.ID [" << i << "]= " << configure_array.getByIndex(i)->id << std::endl; std::cout << "config.MK [" << i << "]= " << configure_array.getByIndex(i)->mask << std::endl; } ASSERT_EQ(configure_array_2.getByIndex(0)->id, 6272); ASSERT_EQ(configure_array_2.getByIndex(0)->mask, 32640); ASSERT_EQ(configure_array_2.getByIndex(1)->id, 262144); ASSERT_EQ(configure_array_2.getByIndex(1)->mask, 16776320); ASSERT_EQ(configure_array_2.getByIndex(2)->id, 256000); ASSERT_EQ(configure_array_2.getByIndex(2)->mask, 16771968); ASSERT_EQ(configure_array_2.getByIndex(3)->id, 262144); ASSERT_EQ(configure_array_2.getByIndex(3)->mask, 16771968); }
TEST(CanAcceptanceFilter, Basic_test) { uavcan::GlobalDataTypeRegistry::instance().reset(); uavcan::DefaultDataTypeRegistrator<uavcan::equipment::camera_gimbal::AngularCommand> _reg1; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::Sideslip> _reg2; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::TrueAirspeed> _reg3; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::AngleOfAttack> _reg4; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::ahrs::AHRS> _reg5; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::StaticPressure> _reg6; uavcan::DefaultDataTypeRegistrator<uavcan::protocol::file::BeginFirmwareUpdate> _reg7; SystemClockDriver clock_driver; CanDriverMock can_driver(1, clock_driver); TestNode node(can_driver, clock_driver, 24); uavcan::Subscriber<uavcan::equipment::camera_gimbal::AngularCommand, SubscriptionListener<uavcan::equipment::camera_gimbal::AngularCommand>::ExtendedBinder> sub_1(node); uavcan::Subscriber<uavcan::equipment::air_data::Sideslip, SubscriptionListener<uavcan::equipment::air_data::Sideslip>::ExtendedBinder> sub_2(node); uavcan::Subscriber<uavcan::equipment::air_data::TrueAirspeed, SubscriptionListener<uavcan::equipment::air_data::TrueAirspeed>::ExtendedBinder> sub_3(node); uavcan::Subscriber<uavcan::equipment::air_data::AngleOfAttack, SubscriptionListener<uavcan::equipment::air_data::AngleOfAttack>::ExtendedBinder> sub_4(node); uavcan::Subscriber<uavcan::equipment::ahrs::AHRS, SubscriptionListener<uavcan::equipment::ahrs::AHRS>::ExtendedBinder> sub_5(node); uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure, SubscriptionListener<uavcan::equipment::air_data::StaticPressure>::ExtendedBinder> sub_6(node); uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure, SubscriptionListener<uavcan::equipment::air_data::StaticPressure>::ExtendedBinder> sub_6_1(node); uavcan::ServiceServer<uavcan::protocol::file::BeginFirmwareUpdate> server(node); SubscriptionListener<uavcan::equipment::camera_gimbal::AngularCommand> listener_1; SubscriptionListener<uavcan::equipment::air_data::Sideslip> listener_2; SubscriptionListener<uavcan::equipment::air_data::TrueAirspeed> listener_3; SubscriptionListener<uavcan::equipment::air_data::AngleOfAttack> listener_4; SubscriptionListener<uavcan::equipment::ahrs::AHRS> listener_5; SubscriptionListener<uavcan::equipment::air_data::StaticPressure> listener_6; sub_1.start(listener_1.bindExtended()); sub_2.start(listener_2.bindExtended()); sub_3.start(listener_3.bindExtended()); sub_4.start(listener_4.bindExtended()); sub_5.start(listener_5.bindExtended()); sub_6.start(listener_6.bindExtended()); sub_6_1.start(listener_6.bindExtended()); server.start(writeServiceServerCallback); std::cout << "Subscribers are initialized ..." << std::endl; uavcan::CanAcceptanceFilterConfigurator test_configurator(node); int configure_filters_assert = test_configurator.configureFilters(); if (configure_filters_assert == 0) { std::cout << "Filters are configured ..." << std::endl; } const auto& configure_array = test_configurator.getConfiguration(); uint32_t configure_array_size = configure_array.getSize(); ASSERT_EQ(configure_filters_assert, 0); ASSERT_EQ(configure_array_size, 4); for (uint16_t i = 0; i<configure_array_size; i++) { std::cout << "config.ID [" << i << "]= " << configure_array.getByIndex(i)->id << std::endl; std::cout << "config.MK [" << i << "]= " << configure_array.getByIndex(i)->mask << std::endl; } ASSERT_EQ(configure_array.getByIndex(0)->id, 268435456); ASSERT_EQ(configure_array.getByIndex(0)->mask, 469762048); ASSERT_EQ(configure_array.getByIndex(1)->id, 363069440); ASSERT_EQ(configure_array.getByIndex(1)->mask, 536739840); ASSERT_EQ(configure_array.getByIndex(2)->id, 16777216); ASSERT_EQ(configure_array.getByIndex(2)->mask, 124452864); ASSERT_EQ(configure_array.getByIndex(3)->id, 18874368); ASSERT_EQ(configure_array.getByIndex(3)->mask, 133169152); }