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FirmwareUpdateTrigger - fixes and test

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This commit is contained in:
Pavel Kirienko
2015-05-19 13:16:51 +03:00
parent d7ae3f90c0
commit 0d60595d7c
2 changed files with 152 additions and 32 deletions
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libuavcan/include/uavcan/protocol/firmware_update_trigger.hpp
+24 -15
View File
@@ -50,8 +50,8 @@ public:
* @return True - the class will begin sending update requests.
* False - the node will be ignored, no request will be sent.
*/
virtual bool shouldSendFirmwareUpdateRequest(NodeID node_id, const protocol::GetNodeInfo::Response& node_info,
FirmwareFilePath& out_firmware_file_path) = 0;
virtual bool shouldRequestFirmwareUpdate(NodeID node_id, const protocol::GetNodeInfo::Response& node_info,
FirmwareFilePath& out_firmware_file_path) = 0;
/**
* This method will be invoked when a node responds to the update request with an error. If the request simply
@@ -69,9 +69,9 @@ public:
* @return True - the class will continue sending update requests with new firmware path.
* False - the node will be forgotten, new requests will not be sent.
*/
virtual bool shouldRetryFirmwareUpdateRequest(NodeID node_id,
const protocol::file::BeginFirmwareUpdate::Response& error_response,
FirmwareFilePath& out_firmware_file_path) = 0;
virtual bool shouldRetryFirmwareUpdate(NodeID node_id,
const protocol::file::BeginFirmwareUpdate::Response& error_response,
FirmwareFilePath& out_firmware_file_path) = 0;
/**
* This node is invoked when the node responds to the update request with confirmation.
@@ -170,12 +170,16 @@ class FirmwareUpdateTrigger : public INodeInfoListener,
/*
* Methods of INodeInfoListener
*/
virtual void handleNodeInfoUnavailable(NodeID) { /* Not used */ }
virtual void handleNodeInfoUnavailable(NodeID node_id)
{
UAVCAN_TRACE("FirmwareUpdateTrigger", "Node ID %d could not provide GetNodeInfo response", int(node_id.get()));
pending_nodes_.remove(node_id); // For extra paranoia
}
virtual void handleNodeInfoRetrieved(const NodeID node_id, const protocol::GetNodeInfo::Response& node_info)
{
FirmwareFilePath firmware_file_path;
const bool update_needed = checker_.shouldSendFirmwareUpdateRequest(node_id, node_info, firmware_file_path);
const bool update_needed = checker_.shouldRequestFirmwareUpdate(node_id, node_info, firmware_file_path);
if (update_needed)
{
UAVCAN_TRACE("FirmwareUpdateTrigger", "Node ID %d requires update; file path: %s",
@@ -205,10 +209,8 @@ class FirmwareUpdateTrigger : public INodeInfoListener,
void trySetPendingNode(const NodeID node_id, const FirmwareFilePath& path)
{
FirmwareFilePath* const value = pending_nodes_.access(node_id);
if (value != NULL)
if (NULL != pending_nodes_.insert(node_id, path))
{
*value = path;
if (!TimerBase::isRunning())
{
TimerBase::startPeriodic(request_interval_);
@@ -268,8 +270,8 @@ class FirmwareUpdateTrigger : public INodeInfoListener,
{
FirmwareFilePath firmware_file_path;
const bool update_needed =
checker_.shouldRetryFirmwareUpdateRequest(result.getCallID().server_node_id, result.getResponse(),
firmware_file_path);
checker_.shouldRetryFirmwareUpdate(result.getCallID().server_node_id, result.getResponse(),
firmware_file_path);
if (update_needed)
{
UAVCAN_TRACE("FirmwareUpdateTrigger", "Node ID %d requires retry; file path: %s",
@@ -301,7 +303,7 @@ class FirmwareUpdateTrigger : public INodeInfoListener,
FirmwareFilePath* const path = pending_nodes_.access(node_id);
if (path == NULL)
{
UAVCAN_ASSERT(0);
UAVCAN_ASSERT(0); // pickNextNodeID() returned a node ID that is not present in the map
return;
}
@@ -345,7 +347,7 @@ public:
}
/**
* Starts the class. Once started, it can't be stopped unless destroyed.
* Starts the object. Once started, it can't be stopped unless destroyed.
*
* @param node_info_retriever The object will register itself against this retriever.
* When the destructor is called, the object will unregister itself.
@@ -422,7 +424,14 @@ public:
* This method is mostly needed for testing.
* When triggering is not in progress, the class consumes zero CPU time.
*/
bool isTriggeringInProgress() const { return TimerBase::isRunning(); }
bool isTimerRunning() const { return TimerBase::isRunning(); }
unsigned getNumPendingNodes() const
{
const unsigned ret = pending_nodes_.getSize();
UAVCAN_ASSERT((ret > 0) ? isTimerRunning() : true);
return ret;
}
};
}
libuavcan/test/protocol/firmware_update_trigger.cpp
+128 -17
View File
@@ -11,34 +11,66 @@ using namespace uavcan::protocol::file;
struct FirmwareVersionChecker : public uavcan::IFirmwareVersionChecker
{
virtual bool shouldSendFirmwareUpdateRequest(uavcan::NodeID node_id,
const uavcan::protocol::GetNodeInfo::Response& node_info,
FirmwareFilePath& out_firmware_file_path)
unsigned should_request_cnt;
unsigned should_retry_cnt;
unsigned confirmation_cnt;
std::string firmware_path;
bool should_retry;
std::string expected_node_name_to_update;
BeginFirmwareUpdate::Response last_error_response;
FirmwareVersionChecker()
: should_request_cnt(0)
, should_retry_cnt(0)
, confirmation_cnt(0)
, should_retry(false)
{ }
virtual bool shouldRequestFirmwareUpdate(uavcan::NodeID node_id,
const uavcan::protocol::GetNodeInfo::Response& node_info,
FirmwareFilePath& out_firmware_file_path)
{
(void)node_id;
(void)node_info;
(void)out_firmware_file_path;
return false;
should_request_cnt++;
std::cout << "REQUEST? " << int(node_id.get()) << "\n" << node_info << std::endl;
out_firmware_file_path = firmware_path.c_str();
return node_info.name == expected_node_name_to_update;
}
virtual bool shouldRetryFirmwareUpdateRequest(uavcan::NodeID node_id,
const BeginFirmwareUpdate::Response& error_response,
FirmwareFilePath& out_firmware_file_path)
virtual bool shouldRetryFirmwareUpdate(uavcan::NodeID node_id,
const BeginFirmwareUpdate::Response& error_response,
FirmwareFilePath& out_firmware_file_path)
{
(void)node_id;
(void)error_response;
(void)out_firmware_file_path;
return false;
last_error_response = error_response;
std::cout << "RETRY? " << int(node_id.get()) << "\n" << error_response << std::endl;
should_retry_cnt++;
out_firmware_file_path = firmware_path.c_str();
return should_retry;
}
virtual void handleFirmwareUpdateConfirmation(uavcan::NodeID node_id,
const BeginFirmwareUpdate::Response& response)
{
(void)node_id;
(void)response;
confirmation_cnt++;
std::cout << "CONFIRMED " << int(node_id.get()) << "\n" << response << std::endl;
}
};
static uint8_t response_error_code = 0;
static void beginFirmwareUpdateRequestCallback(
const uavcan::ReceivedDataStructure<typename BeginFirmwareUpdate::Request>& req,
uavcan::ServiceResponseDataStructure<typename BeginFirmwareUpdate::Response>& res)
{
std::cout << "REQUEST\n" << req << std::endl;
res.error = response_error_code;
res.optional_error_message = "foobar";
}
TEST(FirmwareUpdateTrigger, Basic)
{
uavcan::GlobalDataTypeRegistry::instance().reset();
@@ -76,8 +108,87 @@ TEST(FirmwareUpdateTrigger, Basic)
ASSERT_LE(0, provider->startAndPublish());
ASSERT_FALSE(trigger.isTimerRunning());
ASSERT_EQ(0, trigger.getNumPendingNodes());
/*
* Discovering one node
* Updating one node
* The server that can confirm the request is not running yet
*/
checker.firmware_path = "firmware_path";
checker.expected_node_name_to_update = "Ivan";
checker.should_retry = true;
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2000));
ASSERT_TRUE(trigger.isTimerRunning());
ASSERT_EQ(1, trigger.getNumPendingNodes());
ASSERT_EQ(1, checker.should_request_cnt);
ASSERT_EQ(0, checker.should_retry_cnt);
ASSERT_EQ(0, checker.confirmation_cnt);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2000));
// Still running!
ASSERT_TRUE(trigger.isTimerRunning());
ASSERT_EQ(1, trigger.getNumPendingNodes());
/*
* Starting the firmware update server that returns an error
* The checker will instruct the trigger to repeat
*/
uavcan::ServiceServer<BeginFirmwareUpdate> srv(nodes.b);
ASSERT_LE(0, srv.start(beginFirmwareUpdateRequestCallback));
response_error_code = BeginFirmwareUpdate::Response::ERROR_UNKNOWN;
checker.should_retry = true;
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1100));
ASSERT_EQ(1, checker.should_request_cnt);
ASSERT_EQ(1, checker.should_retry_cnt);
ASSERT_EQ(0, checker.confirmation_cnt);
// Still running!
ASSERT_TRUE(trigger.isTimerRunning());
ASSERT_EQ(1, trigger.getNumPendingNodes());
/*
* Trying again, this time with ERROR_IN_PROGRESS
*/
response_error_code = BeginFirmwareUpdate::Response::ERROR_IN_PROGRESS;
checker.should_retry = false;
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2100));
ASSERT_EQ(1, checker.should_request_cnt);
ASSERT_EQ(1, checker.should_retry_cnt);
ASSERT_EQ(1, checker.confirmation_cnt);
// Stopped!
ASSERT_FALSE(trigger.isTimerRunning());
ASSERT_EQ(0, trigger.getNumPendingNodes());
/*
* Restarting the node info provider
* Now it doesn't need an update
*/
provider.reset(new uavcan::NodeStatusProvider(nodes.b));
provider->setName("Dmitry");
provider->setHardwareVersion(hwver);
ASSERT_LE(0, provider->startAndPublish());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2100));
ASSERT_EQ(2, checker.should_request_cnt);
ASSERT_EQ(1, checker.should_retry_cnt);
ASSERT_EQ(1, checker.confirmation_cnt);
// Stopped!
ASSERT_FALSE(trigger.isTimerRunning());
ASSERT_EQ(0, trigger.getNumPendingNodes());
}