Exemplo n.º 1
0
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);
}
Exemplo n.º 2
0
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);
}