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FirmwareUpdateTrigger node selector fix, more testing

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This commit is contained in:
Pavel Kirienko
2015-05-20 14:53:16 +03:00
parent b8d3884eb6
commit 1f47596688
2 changed files with 195 additions and 39 deletions
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libuavcan/include/uavcan/protocol/firmware_update_trigger.hpp
+42 -20
View File
@@ -134,19 +134,26 @@ class FirmwareUpdateTrigger : public INodeInfoListener,
enum { DefaultRequestIntervalMs = 1000 }; ///< Shall not be less than default service response timeout.
struct NodeIDSelectorPredicate
struct NextNodeIDSearchPredicate : ::uavcan::Noncopyable
{
const FirmwareUpdateTrigger& owner;
enum { DefaultOutput = 0xFFU };
NodeIDSelectorPredicate(const FirmwareUpdateTrigger& arg_owner)
const FirmwareUpdateTrigger& owner;
uint8_t output;
NextNodeIDSearchPredicate(const FirmwareUpdateTrigger& arg_owner)
: owner(arg_owner)
, output(DefaultOutput)
{ }
bool operator()(const NodeID node_id, const FirmwareFilePath&)
{
return
(node_id > owner.last_queried_node_id_) &&
!owner.begin_fw_update_client_.hasPendingCallToServer(node_id);
if (node_id.get() > owner.last_queried_node_id_ &&
!owner.begin_fw_update_client_.hasPendingCallToServer(node_id))
{
output = min(output, node_id.get());
}
return false;
}
};
@@ -188,6 +195,7 @@ class FirmwareUpdateTrigger : public INodeInfoListener,
}
else
{
UAVCAN_TRACE("FirmwareUpdateTrigger", "Node ID %d does not need update", int(node_id.get()));
pending_nodes_.remove(node_id);
}
}
@@ -226,25 +234,35 @@ class FirmwareUpdateTrigger : public INodeInfoListener,
NodeID pickNextNodeID() const
{
// We can't do index search because indices are unstable in Map<>
const NodeID* found = pending_nodes_.find(NodeIDSelectorPredicate(*this));
if (found == NULL)
// First try - from the current node up
NextNodeIDSearchPredicate s1(*this);
(void)pending_nodes_.find<NextNodeIDSearchPredicate&>(s1);
if (s1.output != NextNodeIDSearchPredicate::DefaultOutput)
{
// Resetting the round-robin selector and trying again
last_queried_node_id_ = s1.output;
}
else if (last_queried_node_id_ != 0)
{
// Nothing was found, resetting the selector and trying again
UAVCAN_TRACE("FirmwareUpdateTrigger", "Node selector reset, last value: %d", int(last_queried_node_id_));
last_queried_node_id_ = 0;
found = pending_nodes_.find(NodeIDSelectorPredicate(*this));
if (found == NULL)
NextNodeIDSearchPredicate s2(*this);
(void)pending_nodes_.find<NextNodeIDSearchPredicate&>(s2);
if (s2.output != NextNodeIDSearchPredicate::DefaultOutput)
{
return NodeID();
last_queried_node_id_ = s2.output;
}
}
UAVCAN_ASSERT(found != NULL);
UAVCAN_ASSERT(found->get() >= last_queried_node_id_);
last_queried_node_id_ = found->get();
UAVCAN_ASSERT(NodeID(last_queried_node_id_).isUnicast());
UAVCAN_TRACE("FirmwareUpdateTrigger", "Next node ID to query: %d", int(last_queried_node_id_));
else
{
; // Hopeless
}
UAVCAN_TRACE("FirmwareUpdateTrigger", "Next node ID to query: %d, pending nodes: %u, pending calls: %u",
int(last_queried_node_id_), pending_nodes_.getSize(),
begin_fw_update_client_.getNumPendingCalls());
return last_queried_node_id_;
}
@@ -263,6 +281,8 @@ class FirmwareUpdateTrigger : public INodeInfoListener,
if (confirmed)
{
UAVCAN_TRACE("FirmwareUpdateTrigger", "Node ID %d confirmed the update request",
int(result.getCallID().server_node_id.get()));
pending_nodes_.remove(result.getCallID().server_node_id);
checker_.handleFirmwareUpdateConfirmation(result.getCallID().server_node_id, result.getResponse());
}
@@ -280,6 +300,8 @@ class FirmwareUpdateTrigger : public INodeInfoListener,
}
else
{
UAVCAN_TRACE("FirmwareUpdateTrigger", "Node ID %d does not need retry",
int(result.getCallID().server_node_id.get()));
pending_nodes_.remove(result.getCallID().server_node_id);
}
}
libuavcan/test/protocol/firmware_update_trigger.cpp
+153 -19
View File
@@ -17,7 +17,7 @@ struct FirmwareVersionChecker : public uavcan::IFirmwareVersionChecker
std::string firmware_path;
bool should_retry;
int retry_quota;
std::string expected_node_name_to_update;
BeginFirmwareUpdate::Response last_error_response;
@@ -26,7 +26,7 @@ struct FirmwareVersionChecker : public uavcan::IFirmwareVersionChecker
: should_request_cnt(0)
, should_retry_cnt(0)
, confirmation_cnt(0)
, should_retry(false)
, retry_quota(0)
{ }
virtual bool shouldRequestFirmwareUpdate(uavcan::NodeID node_id,
@@ -47,7 +47,15 @@ struct FirmwareVersionChecker : public uavcan::IFirmwareVersionChecker
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;
if (retry_quota > 0)
{
retry_quota--;
return true;
}
else
{
return false;
}
}
virtual void handleFirmwareUpdateConfirmation(uavcan::NodeID node_id,
@@ -58,17 +66,27 @@ struct FirmwareVersionChecker : public uavcan::IFirmwareVersionChecker
}
};
static uint8_t response_error_code = 0;
static void beginFirmwareUpdateRequestCallback(
const uavcan::ReceivedDataStructure<typename BeginFirmwareUpdate::Request>& req,
uavcan::ServiceResponseDataStructure<typename BeginFirmwareUpdate::Response>& res)
struct BeginFirmwareUpdateServer
{
std::cout << "REQUEST\n" << req << std::endl;
uint8_t response_error_code;
res.error = response_error_code;
res.optional_error_message = "foobar";
}
BeginFirmwareUpdateServer() : response_error_code(0) { }
void handleRequest(const uavcan::ReceivedDataStructure<typename BeginFirmwareUpdate::Request>& req,
uavcan::ServiceResponseDataStructure<typename BeginFirmwareUpdate::Response>& res) const
{
std::cout << "REQUEST\n" << req << std::endl;
res.error = response_error_code;
res.optional_error_message = "foobar";
}
typedef uavcan::MethodBinder<BeginFirmwareUpdateServer*,
void (BeginFirmwareUpdateServer::*)(
const uavcan::ReceivedDataStructure<typename BeginFirmwareUpdate::Request>&,
uavcan::ServiceResponseDataStructure<typename BeginFirmwareUpdate::Response>&) const> Callback;
Callback makeCallback() { return Callback(this, &BeginFirmwareUpdateServer::handleRequest); }
};
TEST(FirmwareUpdateTrigger, Basic)
@@ -117,7 +135,7 @@ TEST(FirmwareUpdateTrigger, Basic)
*/
checker.firmware_path = "firmware_path";
checker.expected_node_name_to_update = "Ivan";
checker.should_retry = true;
checker.retry_quota = 1000;
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2000));
@@ -138,12 +156,13 @@ TEST(FirmwareUpdateTrigger, Basic)
* Starting the firmware update server that returns an error
* The checker will instruct the trigger to repeat
*/
uavcan::ServiceServer<BeginFirmwareUpdate> srv(nodes.b);
uavcan::ServiceServer<BeginFirmwareUpdate, BeginFirmwareUpdateServer::Callback> srv(nodes.b);
BeginFirmwareUpdateServer srv_impl;
ASSERT_LE(0, srv.start(beginFirmwareUpdateRequestCallback));
ASSERT_LE(0, srv.start(srv_impl.makeCallback()));
response_error_code = BeginFirmwareUpdate::Response::ERROR_UNKNOWN;
checker.should_retry = true;
srv_impl.response_error_code = BeginFirmwareUpdate::Response::ERROR_UNKNOWN;
checker.retry_quota = 1000;
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1100));
@@ -158,8 +177,8 @@ TEST(FirmwareUpdateTrigger, Basic)
/*
* Trying again, this time with ERROR_IN_PROGRESS
*/
response_error_code = BeginFirmwareUpdate::Response::ERROR_IN_PROGRESS;
checker.should_retry = false;
srv_impl.response_error_code = BeginFirmwareUpdate::Response::ERROR_IN_PROGRESS;
checker.retry_quota = 0;
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2100));
@@ -198,3 +217,118 @@ TEST(FirmwareUpdateTrigger, Basic)
ASSERT_EQ(0, nodes.a.internal_failure_count);
ASSERT_EQ(0, nodes.b.internal_failure_count);
}
TEST(FirmwareUpdateTrigger, MultiNode)
{
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<BeginFirmwareUpdate> _reg1;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg2;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg3;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GlobalDiscoveryRequest> _reg4;
TestNetwork<5> nodes;
// The trigger node
FirmwareVersionChecker checker;
uavcan::NodeInfoRetriever node_info_retriever(nodes[0]);
uavcan::FirmwareUpdateTrigger trigger(nodes[0], checker);
// The client nodes
std::auto_ptr<uavcan::NodeStatusProvider> provider_a(new uavcan::NodeStatusProvider(nodes[1]));
std::auto_ptr<uavcan::NodeStatusProvider> provider_b(new uavcan::NodeStatusProvider(nodes[2]));
std::auto_ptr<uavcan::NodeStatusProvider> provider_c(new uavcan::NodeStatusProvider(nodes[3]));
std::auto_ptr<uavcan::NodeStatusProvider> provider_d(new uavcan::NodeStatusProvider(nodes[4]));
uavcan::protocol::HardwareVersion hwver;
/*
* Initializing
*/
ASSERT_LE(0, trigger.start(node_info_retriever, "/path_prefix/"));
ASSERT_LE(0, node_info_retriever.start());
ASSERT_EQ(1, node_info_retriever.getNumListeners());
hwver.unique_id[0] = 0xAA;
provider_a->setHardwareVersion(hwver);
provider_a->setName("Victor");
ASSERT_LE(0, provider_a->startAndPublish());
hwver.unique_id[0] = 0xBB;
provider_b->setHardwareVersion(hwver);
provider_b->setName("Victor");
ASSERT_LE(0, provider_b->startAndPublish());
hwver.unique_id[0] = 0xCC;
provider_c->setHardwareVersion(hwver);
provider_c->setName("Alexey");
ASSERT_LE(0, provider_c->startAndPublish());
hwver.unique_id[0] = 0xDD;
provider_d->setHardwareVersion(hwver);
provider_d->setName("Victor");
ASSERT_LE(0, provider_d->startAndPublish());
checker.expected_node_name_to_update = "Victor"; // Victors will get updated, others will not
checker.firmware_path = "abc";
/*
* Running - 3 will timout, 1 will be ignored
*/
ASSERT_FALSE(trigger.isTimerRunning());
ASSERT_EQ(0, trigger.getNumPendingNodes());
nodes.spinAll(uavcan::MonotonicDuration::fromMSec(4100));
ASSERT_TRUE(trigger.isTimerRunning());
ASSERT_EQ(3, trigger.getNumPendingNodes());
ASSERT_EQ(4, checker.should_request_cnt);
ASSERT_EQ(0, checker.should_retry_cnt);
ASSERT_EQ(0, checker.confirmation_cnt);
/*
* Initializing the BeginFirmwareUpdate servers
*/
uavcan::ServiceServer<BeginFirmwareUpdate, BeginFirmwareUpdateServer::Callback> srv_a(nodes[1]);
uavcan::ServiceServer<BeginFirmwareUpdate, BeginFirmwareUpdateServer::Callback> srv_b(nodes[2]);
uavcan::ServiceServer<BeginFirmwareUpdate, BeginFirmwareUpdateServer::Callback> srv_c(nodes[3]);
uavcan::ServiceServer<BeginFirmwareUpdate, BeginFirmwareUpdateServer::Callback> srv_d(nodes[4]);
BeginFirmwareUpdateServer srv_a_impl;
BeginFirmwareUpdateServer srv_b_impl;
BeginFirmwareUpdateServer srv_c_impl;
BeginFirmwareUpdateServer srv_d_impl;
ASSERT_LE(0, srv_a.start(srv_a_impl.makeCallback()));
ASSERT_LE(0, srv_b.start(srv_b_impl.makeCallback()));
ASSERT_LE(0, srv_c.start(srv_c_impl.makeCallback()));
ASSERT_LE(0, srv_d.start(srv_d_impl.makeCallback()));
srv_a_impl.response_error_code = BeginFirmwareUpdate::Response::ERROR_INVALID_MODE; // retry
srv_b_impl.response_error_code = BeginFirmwareUpdate::Response::ERROR_INVALID_MODE; // retry
srv_c_impl.response_error_code = BeginFirmwareUpdate::Response::ERROR_INVALID_MODE; // ignore (see below)
srv_d_impl.response_error_code = BeginFirmwareUpdate::Response::ERROR_OK; // OK
/*
* Spinning, now we're getting some errors
* This also checks correctness of the round-robin selector
*/
checker.retry_quota = 2;
nodes.spinAll(uavcan::MonotonicDuration::fromMSec(4100)); // Two will retry, one drop, one confirm
ASSERT_TRUE(trigger.isTimerRunning());
ASSERT_EQ(0, trigger.getNumPendingNodes()); // All removed
EXPECT_EQ(4, checker.should_request_cnt);
EXPECT_EQ(4, checker.should_retry_cnt);
EXPECT_EQ(1, checker.confirmation_cnt);
/*
* Waiting for the timer to stop
*/
nodes.spinAll(uavcan::MonotonicDuration::fromMSec(1100));
ASSERT_FALSE(trigger.isTimerRunning());
}