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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;
}
};
}