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 pushRx(const uavcan::RxFrame& frame)
{
uavcan::CanFrame can_frame;
EXPECT_TRUE(frame.compile(can_frame));
rx.push(FrameWithTime(can_frame, frame.getMonotonicTimestamp()));
}