tests: add test for buffered CANFrames in TxQueue

tests/test_buffered_frames.cpp

@@ -0,0 +1,169 @@
+/*
+ * Copyright (c) 2022 Siddharth B Purohit, CubePilot Pty Ltd
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include <gtest/gtest.h>
+#include <canard.h>
+#include <canard_internals.h>
+#include <math.h>
+
+#if CANARD_MAX_MTU > 8
+
+static bool g_should_accept = true;
+/**
+ * This callback is invoked by the library when a new message or request or response is received.
+ */
+static void onTransferReceived(CanardInstance* ins,
+                               CanardRxTransfer* transfer)
+{
+    (void)ins;
+    (void)transfer;
+}
+
+static bool shouldAcceptTransfer(const CanardInstance* ins,
+                                 uint64_t* out_data_type_signature,
+                                 uint16_t data_type_id,
+                                 CanardTransferType transfer_type,
+                                 uint8_t source_node_id)
+{
+    (void)ins;
+    (void)out_data_type_signature;
+    (void)data_type_id;
+    (void)transfer_type;
+    (void)source_node_id;
+    return g_should_accept;
+}
+
+TEST(CanardBufferedCANFrame, TestPushBytes)
+{
+    ASSERT_LE(sizeof(CanardTxQueueItem), CANARD_MEM_BLOCK_SIZE);
+    ASSERT_EQ((sizeof(CanardCANFrame)-CANARD_MAX_MTU), sizeof(CanardTxQueueCANFrame));
+
+    uint8_t canard_memory_pool[1024];
+    CanardInstance canard;
+    CanardTxQueueItem *queue_item = NULL;
+    CanardCANFrame frame;
+    double total_allocated_bytes = 0.0;
+
+    canardInit(&canard, canard_memory_pool, sizeof(canard_memory_pool),
+                onTransferReceived, shouldAcceptTransfer, NULL);
+
+    // Test 1: Only one byte of payload
+    queue_item = createTxItem(&canard.allocator);
+    frame.data[0] = 0x11;
+    frame.data_len = 1;
+    ASSERT_EQ(canardBufferedCANFramePushBytes(&canard.allocator, queue_item, frame.data, frame.data_len), CANARD_OK);
+
+    // ensure no space was allocated, except for the Tx Item
+    ASSERT_EQ(canard.allocator.statistics.current_usage_blocks, 1);
+
+    // check the frame
+    canardBufferedCANFrameToCANFrame(&canard.allocator, &frame, queue_item);
+    ASSERT_EQ(frame.data_len, 1);
+    ASSERT_EQ(frame.data[0], 0x11);
+
+    // push 7 more bytes
+    memset(frame.data, 0x22, 7);
+    frame.data_len = 7;
+    ASSERT_EQ(canardBufferedCANFramePushBytes(&canard.allocator, queue_item, frame.data, frame.data_len), CANARD_OK);
+
+    // depending on the size of payload head, a block may or may not be allocated
+    if (CANARD_TX_QUEUE_PAYLOAD_HEAD_SIZE >= 8) {
+        ASSERT_EQ(canard.allocator.statistics.current_usage_blocks, 1);
+    } else {
+        ASSERT_EQ(canard.allocator.statistics.current_usage_blocks, 2);
+    }
+    total_allocated_bytes = 8.0 - CANARD_TX_QUEUE_PAYLOAD_HEAD_SIZE;
+
+    // check the frame
+    canardBufferedCANFrameToCANFrame(&canard.allocator, &frame, queue_item);
+    ASSERT_EQ(frame.data_len, 8);
+    ASSERT_EQ(frame.data[0], 0x11);
+    for (int i = 1; i < 8; i++) {
+        ASSERT_EQ(frame.data[i], 0x22);
+    }
+
+    // push 48 more byte
+    memset(frame.data, 0x33, 48);
+    frame.data_len = 48;
+    ASSERT_EQ(canardBufferedCANFramePushBytes(&canard.allocator, queue_item, frame.data, frame.data_len), CANARD_OK);
+    total_allocated_bytes += 48.0;
+
+    // (48 / (Block size)) should be allocated
+    ASSERT_EQ(canard.allocator.statistics.current_usage_blocks, ceil(total_allocated_bytes / CANARD_BUFFER_BLOCK_DATA_SIZE) + 1);
+
+    // check the frame
+    canardBufferedCANFrameToCANFrame(&canard.allocator, &frame, queue_item);
+    ASSERT_EQ(frame.data_len, 56);
+    ASSERT_EQ(frame.data[0], 0x11);
+    for (int i = 1; i < 8; i++) {
+        ASSERT_EQ(frame.data[i], 0x22);
+    }
+    for (int i = 8; i < 56; i++) {
+        ASSERT_EQ(frame.data[i], 0x33);
+    }
+
+    // push 4 more bytes
+    memset(frame.data, 0x55, 4);
+    frame.data_len = 4;
+    ASSERT_EQ(canardBufferedCANFramePushBytes(&canard.allocator, queue_item, frame.data, frame.data_len), CANARD_OK);
+    total_allocated_bytes += 4.0;
+    ASSERT_EQ(canard.allocator.statistics.current_usage_blocks, ceil(total_allocated_bytes / CANARD_BUFFER_BLOCK_DATA_SIZE) + 1);
+
+    // check the frame
+    canardBufferedCANFrameToCANFrame(&canard.allocator, &frame, queue_item);
+    ASSERT_EQ(frame.data_len, 60);
+    ASSERT_EQ(frame.data[0], 0x11);
+    for (int i = 1; i < 8; i++) {
+        ASSERT_EQ(frame.data[i], 0x22);
+    }
+    for (int i = 8; i < 56; i++) {
+        ASSERT_EQ(frame.data[i], 0x33);
+    }
+    for (int i = 56; i < 60; i++) {
+        ASSERT_EQ(frame.data[i], 0x55);
+    }
+
+    // push 4 more bytes
+    memset(frame.data, 0x66, 4);
+    frame.data_len = 4;
+    ASSERT_EQ(canardBufferedCANFramePushBytes(&canard.allocator, queue_item, frame.data, frame.data_len), CANARD_OK);
+    total_allocated_bytes += 4.0;
+    ASSERT_EQ(canard.allocator.statistics.current_usage_blocks, ceil(total_allocated_bytes / CANARD_BUFFER_BLOCK_DATA_SIZE) + 1);
+
+    // check the frame
+    canardBufferedCANFrameToCANFrame(&canard.allocator, &frame, queue_item);
+    ASSERT_EQ(frame.data_len, 64);
+    ASSERT_EQ(frame.data[0], 0x11);
+    for (int i = 1; i < 8; i++) {
+        ASSERT_EQ(frame.data[i], 0x22);
+    }
+    for (int i = 8; i < 56; i++) {
+        ASSERT_EQ(frame.data[i], 0x33);
+    }
+    for (int i = 56; i < 60; i++) {
+        ASSERT_EQ(frame.data[i], 0x55);
+    }
+    for (int i = 60; i < 64; i++) {
+        ASSERT_EQ(frame.data[i], 0x66);
+    }
+}
+#endif