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TransferReceiver - new tests, fixed logic

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This commit is contained in:
Pavel Kirienko 2014-02-10 20:35:35 +04:00
parent dae9718903
commit 149ac87a54
2 changed files with 47 additions and 8 deletions
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4
libuavcan/src/transport/transfer_receiver.cpp
View File

@ -164,9 +164,9 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame)
const bool need_restart = // FSM, the hard way
(not_initialized) ||
(receiver_timed_out && first_fame) ||
(receiver_timed_out) ||
(same_iface && first_fame && (tid_rel == TID_FUTURE)) ||
(iface_timed_out && first_fame && (tid_rel == TID_FUTURE || tid_rel == TID_SAME));
(iface_timed_out && first_fame && (tid_rel == TID_FUTURE));
if (need_restart)
{

51
libuavcan/test/transport/transfer_receiver.cpp
View File

@ -177,18 +177,18 @@ TEST(TransferReceiver, Basic)
* Timeouts
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 9, 100000))); // Wrong iface - ignored
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 9, 600000))); // Accepted due to iface timeout
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 10, 600000))); // Accepted due to iface timeout
ASSERT_EQ(600000, rcv.getLastTransferTimestamp());
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, true, 10, 600100)));// Ignored - old iface 0
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 10, 600100)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, true, 11, 600100)));// Ignored - old iface 0
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 11, 600100)));
ASSERT_EQ(600100, rcv.getLastTransferTimestamp());
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 10, 600100)));// Old TID
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 10, 100000000)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 11, 600100)));// Old TID
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 11, 100000000)));// Accepted - global timeout
ASSERT_EQ(100000000, rcv.getLastTransferTimestamp());
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 11, 100000100)));
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 12, 100000100)));
ASSERT_EQ(100000100, rcv.getLastTransferTimestamp());
ASSERT_TRUE(rcv.isTimedOut(900000000));
@ -311,3 +311,42 @@ TEST(TransferReceiver, IntervalMeasurement)
ASSERT_EQ(INTERVAL, rcv.getInterval());
}
TEST(TransferReceiver, Restart)
{
Context<32> context;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
/*
* This transfer looks complete, but must be ignored because of large delay after the first frame
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 0, false, 0, 100))); // Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 1, false, 0, 10000100))); // Continue 10 sec later, expired
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 2, true, 0, 10000200))); // Ignored
/*
* Begins immediately after, gets an iface timeout but completes OK
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 0, 10000300))); // Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 0, 13000300))); // Continue 3 sec later, iface timeout
CHECK_COMPLETE( rcv.addFrame(gen(1, "12345678", 2, true, 0, 13000400))); // OK nevertheless
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.source_node_id), "123456781234567812345678"));
/*
* Begins OK, gets an iface timeout, switches to another iface
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 0, false, 1, 13000500))); // Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 1, false, 1, 16000500))); // Continue 3 sec later, iface timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 1, false, 1, 16000600))); // Same TID on another iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 1, false, 2, 16000700))); // Not first frame - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 2, 16000800))); // First frame, another iface - restart
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 2, true, 1, 16000600))); // Old iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 1, false, 2, 16000900))); // Continuing
CHECK_COMPLETE( rcv.addFrame(gen(0, "12345678", 2, true, 2, 16000910))); // Done
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.source_node_id), "123456781234567812345678"));
}