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RX logic revisited

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This commit is contained in:
Pavel Kirienko
2015-07-20 18:07:29 +03:00
parent 8364249587
commit 035f107ab5
7 changed files with 64 additions and 108 deletions
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libuavcan/include/uavcan/transport/transfer.hpp
+1
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@@ -74,6 +74,7 @@ class UAVCAN_EXPORT TransferID
public:
static const uint8_t BitLen = 5U;
static const uint8_t Max = (1U << BitLen) - 1U;
static const uint8_t Half = (1U << BitLen) / 2U;
TransferID()
: value_(0)
libuavcan/include/uavcan/transport/transfer_receiver.hpp
+5 -22
View File
@@ -21,8 +21,7 @@ public:
static const uint16_t MinTransferIntervalMSec = 1;
static const uint16_t MaxTransferIntervalMSec = 0xFFFF;
static const uint16_t DefaultTransferIntervalMSec = 1000;
static const uint16_t MessageMaxTFallbackMSec = 1000;
static const uint16_t ServiceTFallbackMSec = 500;
static const uint16_t DefaultTidTimeoutMSec = 1000;
static MonotonicDuration getDefaultTransferInterval()
{
@@ -32,11 +31,9 @@ public:
static MonotonicDuration getMaxTransferInterval() { return MonotonicDuration::fromMSec(MaxTransferIntervalMSec); }
private:
enum TidRelation { TidSame, TidRepeat, TidFuture };
enum { IfaceIndexNotSet = MaxCanIfaces };
enum { ErrorCntMask = 15 };
enum { ErrorCntMask = 31 };
enum { IfaceIndexMask = MaxCanIfaces };
MonotonicTime prev_transfer_ts_;
@@ -50,22 +47,19 @@ private:
TransferID tid_; // 1 byte field
// 1 byte aligned bitfields:
uint8_t tt_service_ : 1;
uint8_t next_toggle_ : 1;
uint8_t iface_index_ : 2;
mutable uint8_t error_cnt_ : 4;
mutable uint8_t error_cnt_ : 5;
bool isInitialized() const { return iface_index_ != IfaceIndexNotSet; }
bool isMidTransfer() const { return buffer_write_pos_ > 0; }
MonotonicDuration getTFallback() const;
MonotonicDuration getTTimeout() const;
MonotonicDuration getIfaceSwitchDelay() const;
MonotonicDuration getTidTimeout() const;
void registerError() const;
TidRelation getTidRelation(const RxFrame& frame) const;
void updateTransferTimings();
void prepareForNextTransfer();
@@ -78,17 +72,6 @@ public:
transfer_interval_msec_(DefaultTransferIntervalMSec),
this_transfer_crc_(0),
buffer_write_pos_(0),
tt_service_(false),
next_toggle_(false),
iface_index_(IfaceIndexNotSet),
error_cnt_(0)
{ }
TransferReceiver(const TransferType transfer_type) :
transfer_interval_msec_(DefaultTransferIntervalMSec),
this_transfer_crc_(0),
buffer_write_pos_(0),
tt_service_((transfer_type == TransferTypeServiceRequest) || (transfer_type == TransferTypeServiceResponse)),
next_toggle_(false),
iface_index_(IfaceIndexNotSet),
error_cnt_(0)
libuavcan/src/transport/uc_transfer.cpp
+1
View File
@@ -26,6 +26,7 @@ const TransferPriority TransferPriority::Lowest(NumericallyMax);
*/
const uint8_t TransferID::BitLen;
const uint8_t TransferID::Max;
const uint8_t TransferID::Half;
/**
* NodeID
libuavcan/src/transport/uc_transfer_listener.cpp
+1 -1
View File
@@ -207,7 +207,7 @@ void TransferListenerBase::handleFrame(const RxFrame& frame)
return;
}
TransferReceiver new_recv(frame.getTransferType());
TransferReceiver new_recv;
recv = receivers_.insert(key, new_recv);
if (recv == NULL)
{
libuavcan/src/transport/uc_transfer_receiver.cpp
+22 -52
View File
@@ -14,32 +14,16 @@ namespace uavcan
const uint16_t TransferReceiver::MinTransferIntervalMSec;
const uint16_t TransferReceiver::MaxTransferIntervalMSec;
const uint16_t TransferReceiver::DefaultTransferIntervalMSec;
const uint16_t TransferReceiver::MessageMaxTFallbackMSec;
const uint16_t TransferReceiver::ServiceTFallbackMSec;
const uint16_t TransferReceiver::DefaultTidTimeoutMSec;
MonotonicDuration TransferReceiver::getTFallback() const
MonotonicDuration TransferReceiver::getIfaceSwitchDelay() const
{
if (tt_service_)
{
return MonotonicDuration::fromMSec(ServiceTFallbackMSec);
}
else
{
const MonotonicDuration t_fallback = MonotonicDuration::fromMSec(transfer_interval_msec_ * 2);
return min(t_fallback, MonotonicDuration::fromMSec(MessageMaxTFallbackMSec));
}
return MonotonicDuration::fromMSec(transfer_interval_msec_);
}
MonotonicDuration TransferReceiver::getTTimeout() const
MonotonicDuration TransferReceiver::getTidTimeout() const
{
if (tt_service_)
{
return getTFallback();
}
else
{
return getTFallback() * 3;
}
return MonotonicDuration::fromMSec(DefaultTidTimeoutMSec);
}
void TransferReceiver::registerError() const
@@ -47,20 +31,6 @@ void TransferReceiver::registerError() const
error_cnt_ = static_cast<uint8_t>(error_cnt_ + 1) & ErrorCntMask;
}
TransferReceiver::TidRelation TransferReceiver::getTidRelation(const RxFrame& frame) const
{
const int distance = tid_.computeForwardDistance(frame.getTransferID());
if (distance == 0)
{
return TidSame;
}
if (distance < ((1 << TransferID::BitLen) / 2))
{
return TidFuture;
}
return TidRepeat;
}
void TransferReceiver::updateTransferTimings()
{
UAVCAN_ASSERT(!this_transfer_ts_.isZero());
@@ -114,7 +84,7 @@ bool TransferReceiver::validate(const RxFrame& frame) const
registerError();
return false;
}
if (getTidRelation(frame) != TidSame)
if (frame.getTransferID() != tid_)
{
UAVCAN_TRACE("TransferReceiver", "Unexpected TID (current %i), %s", tid_.get(), frame.toString().c_str());
registerError();
@@ -210,13 +180,11 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame, Tra
bool TransferReceiver::isTimedOut(MonotonicTime current_ts) const
{
return (current_ts - this_transfer_ts_) > getTTimeout();
return (current_ts - this_transfer_ts_) > getTidTimeout();
}
TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, TransferBufferAccessor& tba)
{
UAVCAN_ASSERT((getDataTypeKindForTransferType(frame.getTransferType()) == DataTypeKindService) == tt_service_);
if ((frame.getMonotonicTimestamp().isZero()) ||
(frame.getMonotonicTimestamp() < prev_transfer_ts_) ||
(frame.getMonotonicTimestamp() < this_transfer_ts_))
@@ -226,35 +194,37 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, Tr
}
const bool not_initialized = !isInitialized();
const bool receiver_timed_out = isTimedOut(frame.getMonotonicTimestamp());
const bool tid_timed_out = isTimedOut(frame.getMonotonicTimestamp());
const bool same_iface = frame.getIfaceIndex() == iface_index_;
const bool first_fame = frame.isStartOfTransfer();
const TidRelation tid_rel = getTidRelation(frame);
const bool iface_timed_out = (frame.getMonotonicTimestamp() - this_transfer_ts_) > getTFallback();
const bool first_frame = frame.isStartOfTransfer();
const bool non_wrapped_tid = tid_.computeForwardDistance(frame.getTransferID()) < TransferID::Half;
const bool not_previous_tid = frame.getTransferID().computeForwardDistance(tid_) > 1;
const bool iface_switch_allowed = (frame.getMonotonicTimestamp() - this_transfer_ts_) > getIfaceSwitchDelay();
// FSM, the hard way
const bool need_restart =
not_initialized ||
receiver_timed_out ||
((same_iface || iface_timed_out) && first_fame && (tid_rel == TidFuture));
(not_initialized) ||
(tid_timed_out) ||
(same_iface && first_frame && not_previous_tid) ||
(iface_switch_allowed && first_frame && non_wrapped_tid);
if (need_restart)
{
if (!not_initialized && !receiver_timed_out)
if (!not_initialized && (tid_ != frame.getTransferID()))
{
registerError();
}
UAVCAN_TRACE("TransferReceiver",
"Restart [not_inited=%i, iface_timeout=%i, recv_timeout=%i, same_iface=%i, first_frame=%i, tid_rel=%i], %s",
int(not_initialized), int(iface_timed_out), int(receiver_timed_out), int(same_iface),
int(first_fame), int(tid_rel), frame.toString().c_str());
UAVCAN_TRACE("TransferReceiver", "Restart [ni=%d, isa=%d, tt=%d, si=%d, ff=%d, nwtid=%d, nptid=%d, tid=%d], %s",
int(not_initialized), int(iface_switch_allowed), int(tid_timed_out), int(same_iface),
int(first_frame), int(non_wrapped_tid), int(not_previous_tid), int(tid_.get()),
frame.toString().c_str());
tba.remove();
iface_index_ = frame.getIfaceIndex() & IfaceIndexMask;
tid_ = frame.getTransferID();
next_toggle_ = false;
buffer_write_pos_ = 0;
this_transfer_crc_ = 0;
if (!first_fame)
if (!first_frame)
{
tid_.increment();
return ResultNotComplete;
libuavcan/test/protocol/transport_stats_provider.cpp
+8 -8
View File
@@ -55,7 +55,7 @@ TEST(TransportStatsProvider, Basic)
* Sending a malformed frame, it must be registered as tranfer error
*/
uavcan::Frame frame(uavcan::protocol::GetTransportStats::DefaultDataTypeID, uavcan::TransferTypeServiceRequest,
2, 1, 0);
2, 1, 1);
frame.setStartOfTransfer(true);
frame.setEndOfTransfer(true);
uavcan::CanFrame can_frame;
@@ -76,11 +76,11 @@ TEST(TransportStatsProvider, Basic)
ASSERT_LE(0, nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10)));
ASSERT_TRUE(tsp_cln.collector.result.get());
ASSERT_EQ(1, tsp_cln.collector.result->getResponse().transfer_errors); // That broken frame
ASSERT_EQ(3, tsp_cln.collector.result->getResponse().transfers_rx);
ASSERT_EQ(2, tsp_cln.collector.result->getResponse().transfers_tx);
ASSERT_EQ(1, tsp_cln.collector.result->getResponse().can_iface_stats.size());
ASSERT_EQ(72, tsp_cln.collector.result->getResponse().can_iface_stats[0].errors);
ASSERT_EQ(4, tsp_cln.collector.result->getResponse().can_iface_stats[0].frames_rx); // Same here
ASSERT_EQ(12, tsp_cln.collector.result->getResponse().can_iface_stats[0].frames_tx);
EXPECT_EQ(1, tsp_cln.collector.result->getResponse().transfer_errors); // That broken frame
EXPECT_EQ(3, tsp_cln.collector.result->getResponse().transfers_rx);
EXPECT_EQ(2, tsp_cln.collector.result->getResponse().transfers_tx);
EXPECT_EQ(1, tsp_cln.collector.result->getResponse().can_iface_stats.size());
EXPECT_EQ(72, tsp_cln.collector.result->getResponse().can_iface_stats[0].errors);
EXPECT_EQ(4, tsp_cln.collector.result->getResponse().can_iface_stats[0].frames_rx); // Same here
EXPECT_EQ(12, tsp_cln.collector.result->getResponse().can_iface_stats[0].frames_tx);
}
libuavcan/test/transport/transfer_receiver.cpp
+26 -25
View File
@@ -78,8 +78,7 @@ struct Context
uavcan::TransferReceiver receiver; // Must be default constructible and copyable
uavcan::TransferBufferManager<BufSize, 1> bufmgr;
Context(uavcan::TransferType tt) :
receiver(tt),
Context() :
bufmgr(pool)
{
assert(pool.allocate(1) == NULL);
@@ -122,7 +121,7 @@ static bool matchBufferContent(const uavcan::ITransferBuffer* tbb, const std::st
TEST(TransferReceiver, Basic)
{
using uavcan::TransferReceiver;
Context<32> context(uavcan::TransferTypeMessageBroadcast);
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@@ -194,9 +193,9 @@ TEST(TransferReceiver, Basic)
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", SET110, 3, 2500), bk));
ASSERT_EQ(2500, rcv.getLastTransferTimestampMonotonic().toUSec());
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", SET110, 0, 3000), bk)); // Old TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", SET110, 1, 3100), bk)); // Old TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", SET110, 3, 3200), bk)); // Old TID
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", SET110, 0, 3000), bk));
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", SET110, 1, 3100), bk));
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", SET110, 3, 3200), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", SET110, 0, 3300), bk)); // Old TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", SET110, 2, 3400), bk)); // Old TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", SET110, 3, 3500), bk)); // Old TID, wrong iface
@@ -261,7 +260,7 @@ TEST(TransferReceiver, Basic)
TEST(TransferReceiver, OutOfBufferSpace_32bytes)
{
Context<32> context(uavcan::TransferTypeMessageBroadcast);
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@@ -299,7 +298,7 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
TEST(TransferReceiver, OutOfOrderFrames)
{
Context<32> context(uavcan::TransferTypeMessageBroadcast);
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@@ -323,7 +322,7 @@ TEST(TransferReceiver, OutOfOrderFrames)
TEST(TransferReceiver, IntervalMeasurement)
{
Context<32> context(uavcan::TransferTypeMessageBroadcast);
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@@ -353,7 +352,7 @@ TEST(TransferReceiver, IntervalMeasurement)
TEST(TransferReceiver, Restart)
{
Context<32> context(uavcan::TransferTypeMessageBroadcast);
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@@ -368,38 +367,40 @@ TEST(TransferReceiver, Restart)
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET010, 0, 100000200), bk)); // Ignored
/*
* Begins immediately after, gets an iface timeout but completes OK
* Begins immediately after, encounters a delay 0.9 sec but completes OK
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 0, 100000300), bk)); // Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 0, 102000300), bk)); // 2 sec later, iface timeout
CHECK_COMPLETE( rcv.addFrame(gen(1, "1234567", SET010, 0, 102000400), bk)); // OK nevertheless
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 0, 100900300), bk)); // 0.9 sec later
CHECK_COMPLETE( rcv.addFrame(gen(1, "1234567", SET010, 0, 100900400), bk)); // OK nevertheless
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456712345671234567"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
/*
* Begins OK, gets an iface timeout, switches to another iface
* Begins OK, gets a timeout, switches to another iface
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET100, 1, 103000500), bk)); // Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET001, 1, 104000500), bk)); // 1 sec later, iface timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 1, 104000600), bk)); // Same TID, another iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 2, 104000700), bk)); // Not first frame - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, 2, 104000800), bk)); // First, another iface - restart
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET010, 1, 104000600), bk)); // Old iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET001, 2, 104000900), bk)); // Continuing
CHECK_COMPLETE( rcv.addFrame(gen(0, "1234567", SET010, 2, 104000910), bk)); // Done
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET001, 1, 105000500), bk)); // 2 sec later, timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 1, 105000600), bk)); // Same TID, another iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 2, 105000700), bk)); // Not first frame - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, 2, 105000800), bk)); // First, another iface - restart
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET010, 1, 105000600), bk)); // Old iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET001, 2, 105000900), bk)); // Continuing
CHECK_COMPLETE( rcv.addFrame(gen(0, "1234567", SET010, 2, 105000910), bk)); // Done
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456712345671234567"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
ASSERT_EQ(1, rcv.yieldErrorCount());
ASSERT_EQ(4, rcv.yieldErrorCount());
ASSERT_EQ(0, rcv.yieldErrorCount());
}
TEST(TransferReceiver, UtcTransferTimestamping)
{
Context<32> context(uavcan::TransferTypeMessageBroadcast);
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@@ -458,7 +459,7 @@ TEST(TransferReceiver, HeaderParsing)
* Broadcast
*/
{
Context<32> context(uavcan::TransferTypeMessageBroadcast);
Context<32> context;
RxFrameGenerator gen(123);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@@ -505,7 +506,7 @@ TEST(TransferReceiver, HeaderParsing)
* Unicast
*/
{
Context<32> context(uavcan::TransferTypeServiceRequest);
Context<32> context;
RxFrameGenerator gen(123);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;