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CAN IO perf counters

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This commit is contained in:
Pavel Kirienko
2014-03-26 18:18:24 +04:00
parent 09e3ad0187
commit 2798252fd4
7 changed files with 89 additions and 30 deletions
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libuavcan/include/uavcan/driver/can.hpp
+2 -2
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@@ -142,9 +142,9 @@ public:
virtual int getNumFilters() const = 0;
/**
* Continuously incrementing counter of detected hardware errors.
* Continuously incrementing counter of hardware errors.
*/
virtual uint64_t getNumErrors() const = 0;
virtual uint64_t getErrorCount() const = 0;
};
/**
libuavcan/include/uavcan/transport/can_io.hpp
+28 -6
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@@ -110,22 +110,44 @@ public:
bool topPriorityHigherOrEqual(const CanFrame& rhs_frame) const;
uint32_t getNumRejectedFrames() const { return rejected_frames_cnt_; }
uint32_t getRejectedFrameCount() const { return rejected_frames_cnt_; }
bool isEmpty() const { return queue_.isEmpty(); }
};
struct CanIfacePerfCounters
{
uint64_t frames_tx;
uint64_t frames_rx;
uint64_t errors;
CanIfacePerfCounters()
: frames_tx(0)
, frames_rx(0)
, errors(0)
{ }
};
class CanIOManager : Noncopyable
{
struct IfaceFrameCounters
{
uint64_t frames_tx;
uint64_t frames_rx;
IfaceFrameCounters()
: frames_tx(0)
, frames_rx(0)
{ }
};
ICanDriver& driver_;
ISystemClock& sysclock_;
CanTxQueue tx_queues_[MaxCanIfaces];
// Noncopyable
CanIOManager(CanIOManager&);
CanIOManager& operator=(CanIOManager&);
IfaceFrameCounters counters_[MaxCanIfaces];
int sendToIface(int iface_index, const CanFrame& frame, MonotonicTime tx_deadline, CanIOFlags flags);
int sendFromTxQueue(int iface_index);
@@ -147,7 +169,7 @@ public:
int getNumIfaces() const;
uint64_t getNumErrors(int iface_index) const;
CanIfacePerfCounters getIfacePerfCounters(int iface_index) const;
/**
* Returns:
libuavcan/src/transport/can_io.cpp
+15 -3
View File
@@ -227,6 +227,10 @@ int CanIOManager::sendToIface(int iface_index, const CanFrame& frame, MonotonicT
UAVCAN_TRACE("CanIOManager", "Send failed: code %i, iface %i, frame %s",
res, iface_index, frame.toString().c_str());
}
if (res > 0)
{
counters_[iface_index].frames_tx += res;
}
return res;
}
@@ -266,15 +270,19 @@ int CanIOManager::getNumIfaces() const
return std::min(std::max(num, 0), (int)MaxCanIfaces);
}
uint64_t CanIOManager::getNumErrors(int iface_index) const
CanIfacePerfCounters CanIOManager::getIfacePerfCounters(int iface_index) const
{
ICanIface* const iface = driver_.getIface(iface_index);
if (iface == NULL || iface_index >= MaxCanIfaces || iface_index < 0)
{
assert(0);
return std::numeric_limits<uint64_t>::max();
return CanIfacePerfCounters();
}
return iface->getNumErrors() + tx_queues_[iface_index].getNumRejectedFrames();
CanIfacePerfCounters cnt;
cnt.errors = iface->getErrorCount() + tx_queues_[iface_index].getRejectedFrameCount();
cnt.frames_rx = counters_[iface_index].frames_rx;
cnt.frames_tx = counters_[iface_index].frames_tx;
return cnt;
}
int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, MonotonicTime blocking_deadline,
@@ -406,6 +414,10 @@ int CanIOManager::receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline
continue;
}
out_frame.iface_index = i;
if ((res > 0) && !(out_flags & CanIOFlagLoopback))
{
counters_[i].frames_rx += 1;
}
return res;
}
}
libuavcan/test/node/test_node.hpp
+1 -1
View File
@@ -122,7 +122,7 @@ struct PairableCanDriver : public uavcan::ICanDriver, public uavcan::ICanIface
int configureFilters(const uavcan::CanFilterConfig*, int) { return -1; }
int getNumFilters() const { return 0; }
uint64_t getNumErrors() const { return 0; }
uint64_t getErrorCount() const { return 0; }
};
libuavcan/test/transport/can/can.hpp
+1 -1
View File
@@ -152,7 +152,7 @@ public:
int configureFilters(const uavcan::CanFilterConfig*, int) { return -1; }
// cppcheck-suppress unusedFunction
int getNumFilters() const { return 0; }
uint64_t getNumErrors() const { return num_errors; }
uint64_t getErrorCount() const { return num_errors; }
};
class CanDriverMock : public uavcan::ICanDriver
libuavcan/test/transport/can/io.cpp
+35 -10
View File
@@ -91,7 +91,7 @@ TEST(CanIOManager, Reception)
EXPECT_EQ(0, flags);
/*
* Errors
* Perf counters
*/
driver.select_failure = true;
EXPECT_EQ(-1, iomgr.receive(frame, uavcan::MonotonicTime(), flags));
@@ -103,8 +103,14 @@ TEST(CanIOManager, Reception)
driver.ifaces.at(0).num_errors = 9000;
driver.ifaces.at(1).num_errors = 100500;
EXPECT_EQ(9000, iomgr.getNumErrors(0));
EXPECT_EQ(100500, iomgr.getNumErrors(1));
EXPECT_EQ(9000, iomgr.getIfacePerfCounters(0).errors);
EXPECT_EQ(100500, iomgr.getIfacePerfCounters(1).errors);
EXPECT_EQ(3, iomgr.getIfacePerfCounters(0).frames_rx);
EXPECT_EQ(3, iomgr.getIfacePerfCounters(1).frames_rx);
EXPECT_EQ(0, iomgr.getIfacePerfCounters(0).frames_tx);
EXPECT_EQ(0, iomgr.getIfacePerfCounters(1).frames_tx);
}
TEST(CanIOManager, Transmission)
@@ -149,8 +155,8 @@ TEST(CanIOManager, Transmission)
EXPECT_EQ(0, clockmock.utc);
EXPECT_TRUE(driver.ifaces.at(0).tx.empty());
EXPECT_TRUE(driver.ifaces.at(1).tx.empty());
EXPECT_EQ(0, iomgr.getNumErrors(0));
EXPECT_EQ(0, iomgr.getNumErrors(1));
EXPECT_EQ(0, iomgr.getIfacePerfCounters(0).errors);
EXPECT_EQ(0, iomgr.getIfacePerfCounters(1).errors);
/*
* TX Queue basics
@@ -204,9 +210,9 @@ TEST(CanIOManager, Transmission)
// Final checks
EXPECT_TRUE(driver.ifaces.at(0).tx.empty());
EXPECT_TRUE(driver.ifaces.at(1).tx.empty());
EXPECT_EQ(0, pool.getNumUsedBlocks()); // Make sure the memory was properly released
EXPECT_EQ(1, iomgr.getNumErrors(0)); // This is because of expired frame[0]
EXPECT_EQ(0, iomgr.getNumErrors(1));
EXPECT_EQ(0, pool.getNumUsedBlocks()); // Make sure the memory was properly released
EXPECT_EQ(1, iomgr.getIfacePerfCounters(0).errors); // This is because of expired frame[0]
EXPECT_EQ(0, iomgr.getIfacePerfCounters(1).errors);
/*
* TX Queue updates from receive() call
@@ -254,8 +260,8 @@ TEST(CanIOManager, Transmission)
EXPECT_EQ(1200, clockmock.utc);
EXPECT_TRUE(driver.ifaces.at(0).tx.empty());
EXPECT_TRUE(driver.ifaces.at(1).tx.empty());
EXPECT_EQ(1, iomgr.getNumErrors(0));
EXPECT_EQ(1, iomgr.getNumErrors(1)); // This is because of rejected frame[1]
EXPECT_EQ(1, iomgr.getIfacePerfCounters(0).errors);
EXPECT_EQ(1, iomgr.getIfacePerfCounters(1).errors); // This is because of rejected frame[1]
/*
* Error handling
@@ -287,6 +293,15 @@ TEST(CanIOManager, Transmission)
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[0], 2200));
EXPECT_EQ(0, pool.getNumUsedBlocks()); // All transmitted
ASSERT_EQ(0, flags);
/*
* Perf counters
*/
EXPECT_EQ(1, iomgr.getIfacePerfCounters(0).frames_rx);
EXPECT_EQ(1, iomgr.getIfacePerfCounters(1).frames_rx);
EXPECT_EQ(6, iomgr.getIfacePerfCounters(0).frames_tx);
EXPECT_EQ(8, iomgr.getIfacePerfCounters(1).frames_tx);
}
TEST(CanIOManager, Loopback)
@@ -335,6 +350,16 @@ TEST(CanIOManager, Loopback)
ASSERT_EQ(uavcan::CanIOFlagLoopback, flags);
ASSERT_TRUE(rfr1 == fr1);
ASSERT_TRUE(rfr2 == fr2);
/*
* Perf counters
* Loopback frames are not registered as RX
*/
EXPECT_EQ(0, iomgr.getIfacePerfCounters(0).frames_rx);
EXPECT_EQ(0, iomgr.getIfacePerfCounters(1).frames_rx);
EXPECT_EQ(3, iomgr.getIfacePerfCounters(0).frames_tx);
EXPECT_EQ(0, iomgr.getIfacePerfCounters(1).frames_tx);
}
TEST(CanIOManager, Size)
libuavcan/test/transport/can/tx_queue.cpp
+7 -7
View File
@@ -112,7 +112,7 @@ TEST(CanTxQueue, TxQueue)
// Out of free memory now
EXPECT_EQ(0, queue.getNumRejectedFrames());
EXPECT_EQ(0, queue.getRejectedFrameCount());
EXPECT_EQ(4, getQueueLength(queue));
EXPECT_TRUE(isInQueue(queue, f0));
EXPECT_TRUE(isInQueue(queue, f1));
@@ -137,7 +137,7 @@ TEST(CanTxQueue, TxQueue)
EXPECT_TRUE(isInQueue(queue, f2));
EXPECT_FALSE(isInQueue(queue, f1));
EXPECT_EQ(4, getQueueLength(queue));
EXPECT_EQ(2, queue.getNumRejectedFrames());
EXPECT_EQ(2, queue.getRejectedFrameCount());
EXPECT_EQ(f0, queue.peek()->frame); // Check the priority
queue.push(f5, tsMono(600), CanTxQueue::Persistent, flags); // Will override f0 (rest are presistent)
@@ -159,7 +159,7 @@ TEST(CanTxQueue, TxQueue)
EXPECT_TRUE(queue.topPriorityHigherOrEqual(f5a));
EXPECT_EQ(4, getQueueLength(queue));
EXPECT_EQ(4, pool32.getNumUsedBlocks());
EXPECT_EQ(5, queue.getNumRejectedFrames());
EXPECT_EQ(5, queue.getRejectedFrameCount());
EXPECT_TRUE(isInQueue(queue, f2));
EXPECT_TRUE(isInQueue(queue, f3));
EXPECT_TRUE(isInQueue(queue, f4));
@@ -173,19 +173,19 @@ TEST(CanTxQueue, TxQueue)
queue.push(f0, tsMono(800), CanTxQueue::Volatile, flags); // Will replace f4 which is expired now
EXPECT_TRUE(isInQueue(queue, f0));
EXPECT_FALSE(isInQueue(queue, f4));
EXPECT_EQ(6, queue.getNumRejectedFrames());
EXPECT_EQ(6, queue.getRejectedFrameCount());
clockmock.monotonic = 1001;
queue.push(f5, tsMono(2000), CanTxQueue::Volatile, flags); // Entire queue is expired
EXPECT_TRUE(isInQueue(queue, f5));
EXPECT_EQ(1, getQueueLength(queue)); // Just one entry left - f5
EXPECT_EQ(1, pool32.getNumUsedBlocks()); // Make sure there is no leaks
EXPECT_EQ(10, queue.getNumRejectedFrames());
EXPECT_EQ(10, queue.getRejectedFrameCount());
queue.push(f0, tsMono(1000), CanTxQueue::Persistent, flags); // This entry is already expired
EXPECT_EQ(1, getQueueLength(queue));
EXPECT_EQ(1, pool32.getNumUsedBlocks());
EXPECT_EQ(11, queue.getNumRejectedFrames());
EXPECT_EQ(11, queue.getRejectedFrameCount());
/*
* Removing
@@ -212,7 +212,7 @@ TEST(CanTxQueue, TxQueue)
EXPECT_EQ(0, getQueueLength(queue)); // Final state checks
EXPECT_EQ(0, pool32.getNumUsedBlocks());
EXPECT_EQ(11, queue.getNumRejectedFrames());
EXPECT_EQ(11, queue.getRejectedFrameCount());
EXPECT_FALSE(queue.peek());
EXPECT_FALSE(queue.topPriorityHigherOrEqual(f0));
}