transfer.cpp

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/*
 * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 */
 
#include <string>
#include <gtest/gtest.h>
#include <uavcan/transport/transfer.hpp>
 
 
TEST(Transfer, TransferID)
{
    using uavcan::TransferID;
 
    // Tests below are based on this assumption
    ASSERT_EQ(32, 1 << TransferID::BitLen);
 
    /*
     * forwardDistance()
     */
    EXPECT_EQ(0, TransferID(0).computeForwardDistance(0));
    EXPECT_EQ(1, TransferID(0).computeForwardDistance(1));
    EXPECT_EQ(7, TransferID(0).computeForwardDistance(7));
 
    EXPECT_EQ(0, TransferID(7).computeForwardDistance(7));
    EXPECT_EQ(31,TransferID(31).computeForwardDistance(30));
    EXPECT_EQ(1, TransferID(31).computeForwardDistance(0));
 
    EXPECT_EQ(30,TransferID(7).computeForwardDistance(5));
    EXPECT_EQ(5, TransferID(0).computeForwardDistance(5));
 
    /*
     * Misc
     */
    EXPECT_TRUE(TransferID(2) == TransferID(2));
    EXPECT_FALSE(TransferID(2) != TransferID(2));
    EXPECT_FALSE(TransferID(2) == TransferID(0));
    EXPECT_TRUE(TransferID(2) != TransferID(0));
 
    TransferID tid;
    for (int i = 0; i < 999; i++)
    {
        ASSERT_EQ(i & ((1 << TransferID::BitLen) - 1), tid.get());
        const TransferID copy = tid;
        tid.increment();
        ASSERT_EQ(1, copy.computeForwardDistance(tid));
        ASSERT_EQ(31, tid.computeForwardDistance(copy));
        ASSERT_EQ(0, tid.computeForwardDistance(tid));
    }
}
 
 
TEST(Transfer, NodeID)
{
    uavcan::NodeID nid1(1);
    uavcan::NodeID nid127(127);
    uavcan::NodeID nid0(0);
    uavcan::NodeID nidx;
 
    ASSERT_TRUE(nid1.isUnicast());
    ASSERT_FALSE(nid1.isBroadcast());
    ASSERT_TRUE(nid1.isValid());
 
    ASSERT_TRUE(nid127.isUnicast());
    ASSERT_FALSE(nid127.isBroadcast());
    ASSERT_TRUE(nid127.isValid());
 
    ASSERT_FALSE(nid0.isUnicast());
    ASSERT_TRUE(nid0.isBroadcast());
    ASSERT_TRUE(nid0.isValid());
 
    ASSERT_FALSE(nidx.isUnicast());
    ASSERT_FALSE(nidx.isBroadcast());
    ASSERT_FALSE(nidx.isValid());
 
    /*
     * Comparison operators
     */
    ASSERT_TRUE(nid1 < nid127);
    ASSERT_TRUE(nid1 <= nid127);
    ASSERT_TRUE(nid0 < nid1);
    ASSERT_TRUE(nid0 <= nid1);
 
    ASSERT_FALSE(nid1 > nid127);
    ASSERT_FALSE(nid1 >= nid127);
    ASSERT_FALSE(nid0 > nid1);
    ASSERT_FALSE(nid0 >= nid1);
 
    ASSERT_FALSE(nid1 > uavcan::NodeID(1));
    ASSERT_TRUE(nid1 >= uavcan::NodeID(1));
 
    ASSERT_FALSE(nid1 == nid127);
    ASSERT_TRUE(nid127 == uavcan::NodeID(127));
}