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
}
TEST(Time, Utc)
{
using uavcan::UtcDuration;
using uavcan::UtcTime;
using uavcan::Timestamp;
Timestamp ts;
ts.usec = 9000;
UtcTime u1(ts);
ASSERT_EQ(9000, u1.toUSec());
ts.usec *= 2;
u1 = ts;
ASSERT_EQ(18000, u1.toUSec());
ts = UtcTime::fromUSec(12345678900);
ASSERT_EQ(12345678900, ts.usec);
/*
* To string
*/
ASSERT_EQ("0.018000", u1.toString());
ASSERT_EQ("12345.678900", UtcTime(ts).toString());
}
TEST(Time, Overflow)
{
using uavcan::MonotonicDuration;
using uavcan::MonotonicTime;
MonotonicTime max_4 = MonotonicTime::fromUSec(MonotonicTime::getMax().toUSec() / 4);
MonotonicDuration max_4_duration = max_4 - MonotonicTime();
std::cout << max_4 << std::endl;
ASSERT_EQ(max_4_duration.toUSec(), max_4.toUSec());
MonotonicTime max = (((max_4 + max_4_duration) + max_4_duration) + max_4_duration) + max_4_duration;
ASSERT_EQ(max, MonotonicTime::getMax()); // Must not overflow
MonotonicTime min;
min -= max_4_duration;
ASSERT_EQ(min, MonotonicTime()); // Must not underflow
}
TEST(Frame, FrameToString)
{
using uavcan::Frame;
using uavcan::RxFrame;
// RX frame default
RxFrame rx_frame;
EXPECT_EQ("prio=255 dtid=65535 tt=3 snid=255 dnid=255 sot=0 eot=0 togl=0 tid=0 payload=[] ts_m=0.000000 ts_utc=0.000000 iface=0",
rx_frame.toString());
// RX frame max len
rx_frame = RxFrame(Frame(uavcan::DataTypeID::MaxPossibleDataTypeIDValue, uavcan::TransferTypeMessageBroadcast,
uavcan::NodeID::Max, 0, uavcan::TransferID::Max),
uavcan::MonotonicTime::getMax(), uavcan::UtcTime::getMax(), 3);
uint8_t data[8];
for (unsigned i = 0; i < sizeof(data); i++)
{
data[i] = uint8_t(i);
}
rx_frame.setPayload(data, sizeof(data));
rx_frame.setStartOfTransfer(true);
rx_frame.setEndOfTransfer(true);
rx_frame.flipToggle();
rx_frame.setPriority(uavcan::TransferPriority::NumericallyMax);
EXPECT_EQ("prio=31 dtid=65535 tt=2 snid=127 dnid=0 sot=1 eot=1 togl=1 tid=31 payload=[00 01 02 03 04 05 06] "
"ts_m=18446744073709.551615 ts_utc=18446744073709.551615 iface=3",
rx_frame.toString());
// Plain frame default
Frame frame;
EXPECT_EQ("prio=255 dtid=65535 tt=3 snid=255 dnid=255 sot=0 eot=0 togl=0 tid=0 payload=[]", frame.toString());
// Plain frame max len
frame = rx_frame;
EXPECT_EQ("prio=31 dtid=65535 tt=2 snid=127 dnid=0 sot=1 eot=1 togl=1 tid=31 payload=[00 01 02 03 04 05 06]",
frame.toString());
}
TEST(NodeStatusMonitor, Basic)
{
using uavcan::protocol::NodeStatus;
using uavcan::NodeID;
SystemClockMock clock_mock(100);
clock_mock.monotonic_auto_advance = 1000;
CanDriverMock can(2, clock_mock);
TestNode node(can, clock_mock, 64);
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg1;
uavcan::NodeStatusMonitor nsm(node);
ASSERT_LE(0, nsm.start());
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(10)));
/*
* Empty NSM, no nodes were registered yet
*/
ASSERT_FALSE(nsm.findNodeWithWorstStatus().isValid());
uavcan::NodeStatusMonitor::NodeStatus st = nsm.getNodeStatus(uavcan::NodeID(123));
ASSERT_FALSE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OFFLINE, st.status_code);
/*
* Some new status messages
*/
publishNodeStatus(can, 10, NodeStatus::STATUS_OK, 12, 0);
shortSpin(node);
ASSERT_EQ(NodeID(10), nsm.findNodeWithWorstStatus());
publishNodeStatus(can, 9, NodeStatus::STATUS_INITIALIZING, 0, 0);
shortSpin(node);
ASSERT_EQ(NodeID(9), nsm.findNodeWithWorstStatus());
publishNodeStatus(can, 11, NodeStatus::STATUS_CRITICAL, 999, 0);
shortSpin(node);
ASSERT_EQ(NodeID(11), nsm.findNodeWithWorstStatus());
st = nsm.getNodeStatus(uavcan::NodeID(10));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OK, st.status_code);
st = nsm.getNodeStatus(uavcan::NodeID(9));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_INITIALIZING, st.status_code);
st = nsm.getNodeStatus(uavcan::NodeID(11));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_CRITICAL, st.status_code);
/*
* Timeout
*/
std::cout << "Starting timeout test, current monotime is " << clock_mock.monotonic << std::endl;
clock_mock.advance(500000);
shortSpin(node);
st = nsm.getNodeStatus(uavcan::NodeID(10));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OK, st.status_code);
clock_mock.advance(500000);
shortSpin(node);
st = nsm.getNodeStatus(uavcan::NodeID(9));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_INITIALIZING, st.status_code);
clock_mock.advance(500000);
shortSpin(node);
st = nsm.getNodeStatus(uavcan::NodeID(11));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_CRITICAL, st.status_code);
/*
* Will timeout now
*/
clock_mock.advance(4000000);
shortSpin(node);
st = nsm.getNodeStatus(uavcan::NodeID(10));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OFFLINE, st.status_code);
st = nsm.getNodeStatus(uavcan::NodeID(9));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OFFLINE, st.status_code);
st = nsm.getNodeStatus(uavcan::NodeID(11));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OFFLINE, st.status_code);
/*
* Recovering one node, adding two extra
*/
publishNodeStatus(can, 11, NodeStatus::STATUS_WARNING, 999, 0);
shortSpin(node);
publishNodeStatus(can, 127, NodeStatus::STATUS_WARNING, 9999, 0);
shortSpin(node);
publishNodeStatus(can, 1, NodeStatus::STATUS_OK, 1234, 0);
shortSpin(node);
/*
* Making sure OFFLINE is still worst status
*/
ASSERT_EQ(NodeID(9), nsm.findNodeWithWorstStatus());
/*
* Final validation
*/
st = nsm.getNodeStatus(uavcan::NodeID(10));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OFFLINE, st.status_code);
st = nsm.getNodeStatus(uavcan::NodeID(9));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OFFLINE, st.status_code);
st = nsm.getNodeStatus(uavcan::NodeID(11));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_WARNING, st.status_code);
st = nsm.getNodeStatus(uavcan::NodeID(127));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_WARNING, st.status_code);
st = nsm.getNodeStatus(uavcan::NodeID(1));
ASSERT_TRUE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OK, st.status_code);
/*
* Forgetting
*/
nsm.forgetNode(127);
st = nsm.getNodeStatus(uavcan::NodeID(127));
ASSERT_FALSE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OFFLINE, st.status_code);
nsm.forgetNode(9);
st = nsm.getNodeStatus(uavcan::NodeID(9));
ASSERT_FALSE(st.known);
ASSERT_EQ(NodeStatus::STATUS_OFFLINE, st.status_code);
}
TEST(TransferBufferManager, Basic)
{
using uavcan::TransferBufferManager;
using uavcan::TransferBufferManagerKey;
using uavcan::ITransferBuffer;
static const int POOL_BLOCKS = 6;
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * POOL_BLOCKS, uavcan::MemPoolBlockSize> pool;
uavcan::PoolManager<1> poolmgr;
poolmgr.addPool(&pool);
typedef TransferBufferManager<MGR_MAX_BUFFER_SIZE, 2> TransferBufferManagerType;
std::auto_ptr<TransferBufferManagerType> mgr(new TransferBufferManagerType(poolmgr));
// Empty
ASSERT_FALSE(mgr->access(TransferBufferManagerKey(0, uavcan::TransferTypeMessageUnicast)));
ASSERT_FALSE(mgr->access(TransferBufferManagerKey(127, uavcan::TransferTypeMessageUnicast)));
ITransferBuffer* tbb = NULL;
const TransferBufferManagerKey keys[5] =
{
TransferBufferManagerKey(0, uavcan::TransferTypeMessageUnicast),
TransferBufferManagerKey(1, uavcan::TransferTypeMessageBroadcast),
TransferBufferManagerKey(2, uavcan::TransferTypeServiceRequest),
TransferBufferManagerKey(127, uavcan::TransferTypeServiceResponse),
TransferBufferManagerKey(64, uavcan::TransferTypeMessageBroadcast)
};
// Static 0
ASSERT_TRUE((tbb = mgr->create(keys[0])));
ASSERT_EQ(MGR_MAX_BUFFER_SIZE, fillTestData(MGR_TEST_DATA[0], tbb));
ASSERT_EQ(1, mgr->getNumStaticBuffers());
// Static 1
ASSERT_TRUE((tbb = mgr->create(keys[1])));
ASSERT_EQ(MGR_MAX_BUFFER_SIZE, fillTestData(MGR_TEST_DATA[1], tbb));
ASSERT_EQ(2, mgr->getNumStaticBuffers());
ASSERT_EQ(0, mgr->getNumDynamicBuffers());
ASSERT_EQ(0, pool.getNumUsedBlocks());
// Dynamic 0
ASSERT_TRUE((tbb = mgr->create(keys[2])));
ASSERT_EQ(1, pool.getNumUsedBlocks()); // Empty dynamic buffer occupies one block
ASSERT_EQ(MGR_MAX_BUFFER_SIZE, fillTestData(MGR_TEST_DATA[2], tbb));
ASSERT_EQ(2, mgr->getNumStaticBuffers());
ASSERT_EQ(1, mgr->getNumDynamicBuffers());
ASSERT_LT(1, pool.getNumUsedBlocks());
std::cout << "TransferBufferManager - Basic: Pool usage: " << pool.getNumUsedBlocks() << std::endl;
// Dynamic 2
ASSERT_TRUE((tbb = mgr->create(keys[3])));
ASSERT_LT(0, pool.getNumUsedBlocks());
ASSERT_LT(0, fillTestData(MGR_TEST_DATA[3], tbb));
ASSERT_EQ(2, mgr->getNumStaticBuffers());
ASSERT_EQ(2, mgr->getNumDynamicBuffers());
// Dynamic 3 - will fail due to OOM
ASSERT_FALSE((tbb = mgr->create(keys[4])));
ASSERT_EQ(2, mgr->getNumStaticBuffers());
ASSERT_EQ(2, mgr->getNumDynamicBuffers());
// Making sure all buffers contain proper data
ASSERT_TRUE((tbb = mgr->access(keys[0])));
ASSERT_TRUE(matchAgainst(MGR_TEST_DATA[0], *tbb));
ASSERT_TRUE((tbb = mgr->access(keys[1])));
ASSERT_TRUE(matchAgainst(MGR_TEST_DATA[1], *tbb));
ASSERT_TRUE((tbb = mgr->access(keys[2])));
ASSERT_TRUE(matchAgainst(MGR_TEST_DATA[2], *tbb));
ASSERT_TRUE((tbb = mgr->access(keys[3])));
ASSERT_TRUE(matchAgainst(MGR_TEST_DATA[3], *tbb));
// Freeing one static buffer; one dynamic must migrate
mgr->remove(keys[1]);
ASSERT_FALSE(mgr->access(keys[1]));
ASSERT_EQ(2, mgr->getNumStaticBuffers());
ASSERT_EQ(1, mgr->getNumDynamicBuffers()); // One migrated to the static
ASSERT_LT(0, pool.getNumFreeBlocks());
// Removing NodeID 0; one dynamic must migrate
mgr->remove(keys[0]);
ASSERT_FALSE(mgr->access(keys[0]));
ASSERT_EQ(2, mgr->getNumStaticBuffers());
ASSERT_EQ(0, mgr->getNumDynamicBuffers());
// At this time we have the following NodeID: 2, 127
ASSERT_TRUE((tbb = mgr->access(keys[2])));
ASSERT_TRUE(matchAgainst(MGR_TEST_DATA[2], *tbb));
ASSERT_TRUE((tbb = mgr->access(keys[3])));
ASSERT_TRUE(matchAgainst(MGR_TEST_DATA[3], *tbb));
// These were deleted: 0, 1; 3 is still there
ASSERT_FALSE(mgr->access(keys[1]));
ASSERT_FALSE(mgr->access(keys[0]));
ASSERT_TRUE(mgr->access(keys[3]));
// Filling the memory again in order to check the destruction below
ASSERT_TRUE((tbb = mgr->create(keys[1])));
ASSERT_LT(0, fillTestData(MGR_TEST_DATA[1], tbb));
// Deleting the object; all memory must be freed
ASSERT_NE(0, pool.getNumUsedBlocks());
mgr.reset();
ASSERT_EQ(0, pool.getNumUsedBlocks());
}
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);
}