panic_broadcaster.cpp

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/*
 * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 */
 
#include <gtest/gtest.h>
#include <uavcan/protocol/panic_broadcaster.hpp>
#include "helpers.hpp"
 
 
TEST(PanicBroadcaster, Basic)
{
    InterlinkedTestNodesWithSysClock nodes;
 
    uavcan::PanicBroadcaster panicker(nodes.a);
 
    SubscriberWithCollector<uavcan::protocol::Panic> sub(nodes.b);
 
    uavcan::GlobalDataTypeRegistry::instance().reset();
    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::Panic> _reg1;
 
    ASSERT_LE(0, sub.start());
 
    panicker.panic("I lost my towel!");  // Only the first 7 chars allowed
 
    ASSERT_STREQ("I lost ", panicker.getReason().c_str());
    ASSERT_TRUE(panicker.isPanicking());
 
    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
    ASSERT_TRUE(sub.collector.msg.get());
    ASSERT_STREQ("I lost ", sub.collector.msg->reason_text.c_str());
    sub.collector.msg.reset();
 
    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(300));
    ASSERT_TRUE(sub.collector.msg.get());
    ASSERT_STREQ("I lost ", sub.collector.msg->reason_text.c_str());
    sub.collector.msg.reset();
 
    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(300));
    ASSERT_TRUE(sub.collector.msg.get());
    ASSERT_STREQ("I lost ", sub.collector.msg->reason_text.c_str());
    sub.collector.msg.reset();
 
    panicker.dontPanic();
    ASSERT_FALSE(panicker.isPanicking());
 
    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(300));
    ASSERT_FALSE(sub.collector.msg.get());
}