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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/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;