TEST(Frame, FrameParsing)
{
using uavcan::Frame;
using uavcan::CanFrame;
using uavcan::NodeID;
using uavcan::TransferID;
CanFrame can;
Frame frame;
ASSERT_FALSE(frame.parse(can));
for (unsigned i = 0; i < sizeof(CanFrame::data); i++)
{
can.data[i] = uint8_t(i | (i << 4));
}
/*
* Message CAN ID fields and offsets:
* 24 Priority
* 8 Message Type ID
* 7 Service Not Message (0)
* 0 Source Node ID
*
* Service CAN ID fields and offsets:
* 24 Priority
* 16 Service Type ID
* 15 Request Not Response
* 8 Destination Node ID
* 7 Service Not Message (1)
* 0 Source Node ID
*/
/*
* SFT message broadcast
*/
can.id = CanFrame::FlagEFF |
(2 << 24) |
(456 << 8) |
(0 << 7) |
(42 << 0);
can.data[7] = 0xcf; // SET=110, TID=0
ASSERT_FALSE(frame.parse(can));
can.dlc = 8;
ASSERT_TRUE(frame.parse(can));
EXPECT_TRUE(frame.isStartOfTransfer());
EXPECT_TRUE(frame.isEndOfTransfer());
EXPECT_FALSE(frame.getToggle());
ASSERT_EQ(2, frame.getPriority().get());
ASSERT_EQ(NodeID(42), frame.getSrcNodeID());
ASSERT_EQ(NodeID::Broadcast, frame.getDstNodeID());
ASSERT_EQ(456, frame.getDataTypeID().get());
ASSERT_EQ(TransferID(15), frame.getTransferID());
ASSERT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
// TODO: test service frames
// TODO: test malformed frames
}
int Dispatcher::send(const Frame& frame, MonotonicTime tx_deadline, MonotonicTime blocking_deadline,
CanTxQueue::Qos qos, CanIOFlags flags, uint8_t iface_mask)
{
if (frame.getSrcNodeID() != getNodeID())
{
UAVCAN_ASSERT(0);
return -ErrLogic;
}
CanFrame can_frame;
if (!frame.compile(can_frame))
{
UAVCAN_TRACE("Dispatcher", "Unable to send: frame is malformed: %s", frame.toString().c_str());
UAVCAN_ASSERT(0);
return -ErrLogic;
}
return canio_.send(can_frame, tx_deadline, blocking_deadline, iface_mask, qos, flags);
}
TEST(Frame, ServiceParseCompile)
{
using uavcan::Frame;
using uavcan::CanFrame;
using uavcan::TransferID;
using uavcan::TransferType;
Frame frame;
/*
* Priority
* Service Type ID
* Request Not Response
* Destination Node ID
* Service Not Message
* Source Node ID
*/
const uint32_t can_id =
(31 << 24) | // Priority
(200 << 16) | // Service Type ID
(1 << 15) | // Request Not Response
(0x42 << 8) | // Destination Node ID
(1 << 7) | // Service Not Message
(42 << 0); // Source Node ID
const std::string payload_string = "hello\x6a"; // SET = 011, TID = 10
/*
* Parse
*/
// Invalid CAN frames
ASSERT_FALSE(frame.parse(CanFrame(can_id | CanFrame::FlagRTR, (const uint8_t*)"", 0)));
ASSERT_FALSE(frame.parse(makeCanFrame(can_id, payload_string, STD)));
// Valid
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
EXPECT_EQ(TransferID(10), frame.getTransferID());
EXPECT_FALSE(frame.isStartOfTransfer());
EXPECT_TRUE(frame.isEndOfTransfer());
EXPECT_TRUE(frame.getToggle());
EXPECT_EQ(uavcan::NodeID(42), frame.getSrcNodeID());
EXPECT_EQ(uavcan::NodeID(0x42), frame.getDstNodeID());
EXPECT_EQ(uavcan::TransferTypeServiceRequest, frame.getTransferType());
EXPECT_EQ(200, frame.getDataTypeID().get());
EXPECT_EQ(31, frame.getPriority().get());
EXPECT_EQ(payload_string.length(), frame.getPayloadLen() + 1);
EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
reinterpret_cast<const uint8_t*>(&payload_string[0])));
std::cout << frame.toString() << std::endl;
/*
* Compile
*/
CanFrame can_frame;
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
ASSERT_TRUE(frame.compile(can_frame));
ASSERT_EQ(can_frame, makeCanFrame(can_id, payload_string, EXT));
EXPECT_EQ(payload_string.length(), can_frame.dlc);
EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc,
reinterpret_cast<const uint8_t*>(&payload_string[0])));
/*
* Comparison
*/
ASSERT_FALSE(Frame() == frame);
ASSERT_TRUE(Frame() != frame);
frame = Frame();
ASSERT_TRUE(Frame() == frame);
ASSERT_FALSE(Frame() != frame);
}
TEST(Frame, AnonymousParseCompile)
{
using uavcan::Frame;
using uavcan::CanFrame;
using uavcan::TransferID;
using uavcan::TransferType;
Frame frame;
/*
* Priority
* Discriminator
* Message Type ID
* Service Not Message
* Source Node ID
*/
const uint32_t can_id =
(16383 << 10) | // Discriminator
(1 << 8); // Message Type ID
const std::string payload_string = "hello\xd4"; // SET = 110, TID = 20
uavcan::TransferCRC payload_crc;
payload_crc.add(reinterpret_cast<const uint8_t*>(payload_string.c_str()), unsigned(payload_string.length()));
/*
* Parse
*/
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
EXPECT_EQ(TransferID(20), frame.getTransferID());
EXPECT_TRUE(frame.isStartOfTransfer());
EXPECT_TRUE(frame.isEndOfTransfer());
EXPECT_FALSE(frame.getToggle());
EXPECT_TRUE(frame.getSrcNodeID().isBroadcast());
EXPECT_TRUE(frame.getDstNodeID().isBroadcast());
EXPECT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
EXPECT_EQ(1, frame.getDataTypeID().get());
EXPECT_EQ(0, frame.getPriority().get());
EXPECT_EQ(payload_string.length() - 1, frame.getPayloadLen());
EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
reinterpret_cast<const uint8_t*>(&payload_string[0])));
std::cout << frame.toString() << std::endl;
/*
* Compile
*/
const uint32_t DiscriminatorMask = 0x00FFFC00;
const uint32_t NoDiscriminatorMask = 0xFF0003FF;
CanFrame can_frame;
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
ASSERT_TRUE(frame.compile(can_frame));
ASSERT_EQ(can_id & NoDiscriminatorMask & uavcan::CanFrame::MaskExtID,
can_frame.id & NoDiscriminatorMask & uavcan::CanFrame::MaskExtID);
EXPECT_EQ(payload_string.length(), can_frame.dlc);
EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc,
reinterpret_cast<const uint8_t*>(&payload_string[0])));
EXPECT_EQ((can_frame.id & DiscriminatorMask & uavcan::CanFrame::MaskExtID) >> 10, payload_crc.get() & 16383);
/*
* Comparison
*/
ASSERT_FALSE(Frame() == frame);
ASSERT_TRUE(Frame() != frame);
frame = Frame();
ASSERT_TRUE(Frame() == frame);
ASSERT_FALSE(Frame() != frame);
}
TEST(Frame, MessageParseCompile)
{
using uavcan::Frame;
using uavcan::CanFrame;
using uavcan::TransferID;
using uavcan::TransferType;
Frame frame;
/*
* Priority
* Message Type ID
* Service Not Message
* Source Node ID
*/
const uint32_t can_id =
(16 << 24) | // Priority
(20000 << 8) | // Message Type ID
(0 << 7) | // Service Not Message
(42 << 0); // Source Node ID
const std::string payload_string = "hello\xD4"; // SET = 110, TID = 20
/*
* Parse
*/
// Invalid CAN frames
ASSERT_FALSE(frame.parse(CanFrame(can_id | CanFrame::FlagRTR, (const uint8_t*)"", 0)));
ASSERT_FALSE(frame.parse(makeCanFrame(can_id, payload_string, STD)));
// Valid
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
EXPECT_EQ(TransferID(20), frame.getTransferID());
EXPECT_TRUE(frame.isStartOfTransfer());
EXPECT_TRUE(frame.isEndOfTransfer());
EXPECT_FALSE(frame.getToggle());
EXPECT_EQ(uavcan::NodeID(42), frame.getSrcNodeID());
EXPECT_TRUE(frame.getDstNodeID().isBroadcast());
EXPECT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
EXPECT_EQ(20000, frame.getDataTypeID().get());
EXPECT_EQ(16, frame.getPriority().get());
EXPECT_EQ(payload_string.length() - 1, frame.getPayloadLen());
EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
payload_string.begin()));
std::cout << frame.toString() << std::endl;
/*
* Compile
*/
CanFrame can_frame;
ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
ASSERT_TRUE(frame.compile(can_frame));
ASSERT_EQ(can_frame, makeCanFrame(can_id, payload_string, EXT));
EXPECT_EQ(payload_string.length(), can_frame.dlc);
std::cout << can_frame.toString() << std::endl;
/*
* FUN FACT: comparison of uint8_t with char may fail on the character 0xD4 (depending on the locale),
* because it will be considered a Unicode character. Hence, we do reinterpret_cast<>.
*/
EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc,
reinterpret_cast<const uint8_t*>(&payload_string[0])));
/*
* Comparison
*/
ASSERT_FALSE(Frame() == frame);
ASSERT_TRUE(Frame() != frame);
frame = Frame();
ASSERT_TRUE(Frame() == frame);
ASSERT_FALSE(Frame() != frame);
}
