watchrobot/modules/uavcan/libuavcan/test/node/service_server.cpp

/*
 * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#include <gtest/gtest.h>
#include <uavcan/node/service_server.hpp>
#include <uavcan/util/method_binder.hpp>
#include <root_ns_a/StringService.hpp>
#include <root_ns_a/EmptyService.hpp>
#include "../clock.hpp"
#include "../transport/can/can.hpp"
#include "test_node.hpp"


struct StringServerImpl
{
    const char* string_response;

    StringServerImpl(const char* string_response) : string_response(string_response) { }

    void handleRequest(const uavcan::ReceivedDataStructure<root_ns_a::StringService::Request>& request,
                       root_ns_a::StringService::Response& response)
    {
        std::cout << request << std::endl;
        response.string_response = request.string_request;
        response.string_response += " --> ";
        response.string_response += string_response;
        std::cout << response << std::endl;
    }

    typedef uavcan::MethodBinder<StringServerImpl*,
        void (StringServerImpl::*)(const uavcan::ReceivedDataStructure<root_ns_a::StringService::Request>&,
                                   root_ns_a::StringService::Response&)> Binder;

    Binder bind() { return Binder(this, &StringServerImpl::handleRequest); }
};


struct EmptyServerImpl
{
    void handleRequest(const uavcan::ReceivedDataStructure<root_ns_a::EmptyService::Request>& request,
                       root_ns_a::EmptyService::Response&)
    {
        std::cout << request << std::endl;
    }

    typedef uavcan::MethodBinder<EmptyServerImpl*,
        void (EmptyServerImpl::*)(const uavcan::ReceivedDataStructure<root_ns_a::EmptyService::Request>&,
                                   root_ns_a::EmptyService::Response&)> Binder;

    Binder bind() { return Binder(this, &EmptyServerImpl::handleRequest); }
};


TEST(ServiceServer, Basic)
{
    // Manual type registration - we can't rely on the GDTR state
    uavcan::GlobalDataTypeRegistry::instance().reset();
    uavcan::DefaultDataTypeRegistrator<root_ns_a::StringService> _registrator;

    SystemClockDriver clock_driver;
    CanDriverMock can_driver(1, clock_driver);
    TestNode node(can_driver, clock_driver, 1);

    StringServerImpl impl("456");

    {
        uavcan::ServiceServer<root_ns_a::StringService, StringServerImpl::Binder> server(node);

        ASSERT_EQ(0, node.getDispatcher().getNumServiceRequestListeners());
        server.start(impl.bind());
        ASSERT_EQ(1, node.getDispatcher().getNumServiceRequestListeners());

        /*
         * Request frames
         */
        for (uint8_t i = 0; i < 2; i++)
        {
            uavcan::Frame frame(root_ns_a::StringService::DefaultDataTypeID, uavcan::TransferTypeServiceRequest,
                                uavcan::NodeID(uint8_t(i + 0x10)), 1, i);

            const uint8_t req[] = {'r', 'e', 'q', uint8_t(i + '0')};
            frame.setPayload(req, sizeof(req));

            frame.setStartOfTransfer(true);
            frame.setEndOfTransfer(true);
            frame.setPriority(i);

            uavcan::RxFrame rx_frame(frame, clock_driver.getMonotonic(), clock_driver.getUtc(), 0);
            can_driver.ifaces[0].pushRx(rx_frame);
        }

        node.spin(clock_driver.getMonotonic() + uavcan::MonotonicDuration::fromUSec(10000));

        /*
         * Responses (MFT)
         */
        ASSERT_EQ(4, can_driver.ifaces[0].tx.size());
        for (int i = 0; i < 2; i++)
        {
            char payloads[2][8];
            std::snprintf(payloads[0], 8, "req%i ", i);
            std::snprintf(payloads[1], 8, "--> 456");

            // First frame
            uavcan::Frame fr;
            ASSERT_TRUE(fr.parse(can_driver.ifaces[0].popTxFrame()));
            std::cout << fr.toString() << std::endl;
            ASSERT_FALSE(std::strncmp(payloads[0], reinterpret_cast<const char*>(fr.getPayloadPtr() + 2), 5)); // No CRC

            ASSERT_EQ(i, fr.getTransferID().get());
            ASSERT_EQ(uavcan::TransferTypeServiceResponse, fr.getTransferType());
            ASSERT_EQ(i + 0x10, fr.getDstNodeID().get());
            ASSERT_EQ(i, fr.getPriority().get());

            // Second frame
            ASSERT_TRUE(fr.parse(can_driver.ifaces[0].popTxFrame()));
            std::cout << fr.toString() << std::endl;
            // cppcheck-suppress arrayIndexOutOfBounds
            ASSERT_FALSE(std::strncmp(payloads[1], reinterpret_cast<const char*>(fr.getPayloadPtr()), 7));

            ASSERT_EQ(i, fr.getTransferID().get());
            ASSERT_EQ(uavcan::TransferTypeServiceResponse, fr.getTransferType());
            ASSERT_EQ(i + 0x10, fr.getDstNodeID().get());
        }

        ASSERT_EQ(0, server.getRequestFailureCount());
        ASSERT_EQ(0, server.getResponseFailureCount());

        ASSERT_EQ(1, node.getDispatcher().getNumServiceRequestListeners());
    }
    ASSERT_EQ(0, node.getDispatcher().getNumServiceRequestListeners());
}


TEST(ServiceServer, Empty)
{
    // Manual type registration - we can't rely on the GDTR state
    uavcan::GlobalDataTypeRegistry::instance().reset();
    uavcan::DefaultDataTypeRegistrator<root_ns_a::EmptyService> _registrator;

    SystemClockDriver clock_driver;
    CanDriverMock can_driver(1, clock_driver);
    TestNode node(can_driver, clock_driver, 1);

    EmptyServerImpl impl;

    uavcan::ServiceServer<root_ns_a::EmptyService, EmptyServerImpl::Binder> server(node);

    std::cout << "sizeof(ServiceServer<root_ns_a::EmptyService, EmptyServerImpl::Binder>): "
              << sizeof(uavcan::ServiceServer<root_ns_a::EmptyService, EmptyServerImpl::Binder>) << std::endl;

    ASSERT_EQ(0, node.getDispatcher().getNumServiceRequestListeners());
    ASSERT_GE(0, server.start(impl.bind()));
    ASSERT_EQ(1, node.getDispatcher().getNumServiceRequestListeners());
}