static bool match(const uavcan::IncomingTransfer& it, const uavcan::RxFrame& frame, const uint8_t* payload, unsigned payload_len) { // Fields extracted from the frame struct EXPECT_EQ(it.getMonotonicTimestamp(), frame.getMonotonicTimestamp()); EXPECT_EQ(it.getUtcTimestamp(), frame.getUtcTimestamp()); EXPECT_EQ(it.getSrcNodeID(), frame.getSrcNodeID()); EXPECT_EQ(it.getTransferID(), frame.getTransferID()); EXPECT_EQ(it.getTransferType(), frame.getTransferType()); // Payload comparison static const unsigned BUFLEN = 1024; uint8_t buf_reference[BUFLEN], buf_actual[BUFLEN]; if (payload_len > BUFLEN) { std::cout << "match(): Payload is too long" << std::endl; exit(1); } std::fill(buf_reference, buf_reference + BUFLEN, 0); std::fill(buf_actual, buf_actual + BUFLEN, 0); std::copy(payload, payload + payload_len, buf_reference); EXPECT_EQ(payload_len, it.read(0, buf_actual, payload_len * 3)); EXPECT_EQ(0, it.read(payload_len, buf_actual, payload_len * 3)); return std::equal(buf_reference, buf_reference + BUFLEN, buf_actual); }
void sendOneFrame(const uavcan::RxFrame& frame) { CanIfaceMock* const iface = static_cast<CanIfaceMock*>(target_.getIface(frame.getIfaceIndex())); EXPECT_TRUE(iface); if (iface) { iface->pushRx(frame); } }
void pushRx(const uavcan::RxFrame& frame) { uavcan::CanFrame can_frame; EXPECT_TRUE(frame.compile(can_frame)); rx.push(FrameWithTime(can_frame, frame.getMonotonicTimestamp())); }
void handleLoopbackFrame(const uavcan::RxFrame& frame) { std::cout << "DispatcherTestLoopbackFrameListener: " << frame.toString() << std::endl; last_frame = frame; count++; }