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TransferReceiver timing fix

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This commit is contained in:
Pavel Kirienko 2015-07-15 21:22:28 +03:00
parent da3d41307d
commit 29c295bf11
4 changed files with 160 additions and 107 deletions
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27
libuavcan/include/uavcan/transport/transfer_receiver.hpp
View File

@ -21,6 +21,8 @@ public:
static const uint16_t MinTransferIntervalMSec = 1;
static const uint16_t MaxTransferIntervalMSec = 0xFFFF;
static const uint16_t DefaultTransferIntervalMSec = 1000;
static const uint16_t MessageMaxTFallbackMSec = 1000;
static const uint16_t ServiceTFallbackMSec = 500;
static MonotonicDuration getDefaultTransferInterval()
{
@ -34,7 +36,7 @@ private:
enum { IfaceIndexNotSet = MaxCanIfaces };
enum { ErrorCntMask = 31 };
enum { ErrorCntMask = 15 };
enum { IfaceIndexMask = MaxCanIfaces };
MonotonicTime prev_transfer_ts_;
@ -48,14 +50,18 @@ private:
TransferID tid_; // 1 byte field
// 1 byte aligned bitfields:
uint8_t tt_service_ : 1;
uint8_t next_toggle_ : 1;
uint8_t iface_index_ : 2;
mutable uint8_t error_cnt_ : 5;
mutable uint8_t error_cnt_ : 4;
bool isInitialized() const { return iface_index_ != IfaceIndexNotSet; }
bool isMidTransfer() const { return buffer_write_pos_ > 0; }
MonotonicDuration getTFallback() const;
MonotonicDuration getTTimeout() const;
void registerError() const;
TidRelation getTidRelation(const RxFrame& frame) const;
@ -72,14 +78,21 @@ public:
transfer_interval_msec_(DefaultTransferIntervalMSec),
this_transfer_crc_(0),
buffer_write_pos_(0),
tt_service_(false),
next_toggle_(false),
iface_index_(IfaceIndexNotSet),
error_cnt_(0)
{
#if UAVCAN_DEBUG
StaticAssert<sizeof(TransferReceiver) == 32>::check();
#endif
}
{ }
TransferReceiver(const TransferType transfer_type) :
transfer_interval_msec_(DefaultTransferIntervalMSec),
this_transfer_crc_(0),
buffer_write_pos_(0),
tt_service_((transfer_type == TransferTypeServiceRequest) || (transfer_type == TransferTypeServiceResponse)),
next_toggle_(false),
iface_index_(IfaceIndexNotSet),
error_cnt_(0)
{ }
bool isTimedOut(MonotonicTime current_ts) const;

2
libuavcan/src/transport/uc_transfer_listener.cpp
View File

@ -207,7 +207,7 @@ void TransferListenerBase::handleFrame(const RxFrame& frame)
return;
}
TransferReceiver new_recv;
TransferReceiver new_recv(frame.getTransferType());
recv = receivers_.insert(key, new_recv);
if (recv == NULL)
{

49
libuavcan/src/transport/uc_transfer_receiver.cpp
View File

@ -14,6 +14,33 @@ namespace uavcan
const uint16_t TransferReceiver::MinTransferIntervalMSec;
const uint16_t TransferReceiver::MaxTransferIntervalMSec;
const uint16_t TransferReceiver::DefaultTransferIntervalMSec;
const uint16_t TransferReceiver::MessageMaxTFallbackMSec;
const uint16_t TransferReceiver::ServiceTFallbackMSec;
MonotonicDuration TransferReceiver::getTFallback() const
{
if (tt_service_)
{
return MonotonicDuration::fromMSec(ServiceTFallbackMSec);
}
else
{
const MonotonicDuration t_fallback = MonotonicDuration::fromMSec(transfer_interval_msec_ * 2);
return min(t_fallback, MonotonicDuration::fromMSec(MessageMaxTFallbackMSec));
}
}
MonotonicDuration TransferReceiver::getTTimeout() const
{
if (tt_service_)
{
return getTFallback();
}
else
{
return getTFallback() * 3;
}
}
void TransferReceiver::registerError() const
{
@ -183,16 +210,13 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame, Tra
bool TransferReceiver::isTimedOut(MonotonicTime current_ts) const
{
static const int64_t IntervalMult = (1 << TransferID::BitLen) / 2 + 1;
if (current_ts <= this_transfer_ts_)
{
return false;
}
return (current_ts - this_transfer_ts_).toUSec() > (int64_t(transfer_interval_msec_) * 1000 * IntervalMult);
return (current_ts - this_transfer_ts_) > getTTimeout();
}
TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, TransferBufferAccessor& tba)
{
UAVCAN_ASSERT((getDataTypeKindForTransferType(frame.getTransferType()) == DataTypeKindService) == tt_service_);
if ((frame.getMonotonicTimestamp().isZero()) ||
(frame.getMonotonicTimestamp() < prev_transfer_ts_) ||
(frame.getMonotonicTimestamp() < this_transfer_ts_))
@ -206,20 +230,17 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, Tr
const bool same_iface = frame.getIfaceIndex() == iface_index_;
const bool first_fame = frame.isStartOfTransfer();
const TidRelation tid_rel = getTidRelation(frame);
const bool iface_timed_out =
(frame.getMonotonicTimestamp() - this_transfer_ts_).toUSec() > (int64_t(transfer_interval_msec_) * 1000 * 2);
const bool iface_timed_out = (frame.getMonotonicTimestamp() - this_transfer_ts_) > getTFallback();
// FSM, the hard way
const bool need_restart =
(not_initialized) ||
(receiver_timed_out) ||
(same_iface && first_fame && (tid_rel == TidFuture)) ||
(iface_timed_out && first_fame && (tid_rel == TidFuture));
not_initialized ||
receiver_timed_out ||
((same_iface || iface_timed_out) && first_fame && (tid_rel == TidFuture));
if (need_restart)
{
const bool error = !not_initialized && !receiver_timed_out;
if (error)
if (!not_initialized && !receiver_timed_out)
{
registerError();
}

189
libuavcan/test/transport/transfer_receiver.cpp
View File

@ -78,7 +78,9 @@ struct Context
uavcan::TransferReceiver receiver; // Must be default constructible and copyable
uavcan::TransferBufferManager<BufSize, 1> bufmgr;
Context() : bufmgr(pool)
Context(uavcan::TransferType tt) :
receiver(tt),
bufmgr(pool)
{
assert(pool.allocate(1) == NULL);
}
@ -120,7 +122,7 @@ static bool matchBufferContent(const uavcan::ITransferBuffer* tbb, const std::st
TEST(TransferReceiver, Basic)
{
using uavcan::TransferReceiver;
Context<32> context;
Context<32> context(uavcan::TransferTypeMessageBroadcast);
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@ -259,7 +261,7 @@ TEST(TransferReceiver, Basic)
TEST(TransferReceiver, OutOfBufferSpace_32bytes)
{
Context<32> context;
Context<32> context(uavcan::TransferTypeMessageBroadcast);
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@ -297,7 +299,7 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
TEST(TransferReceiver, OutOfOrderFrames)
{
Context<32> context;
Context<32> context(uavcan::TransferTypeMessageBroadcast);
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@ -321,7 +323,7 @@ TEST(TransferReceiver, OutOfOrderFrames)
TEST(TransferReceiver, IntervalMeasurement)
{
Context<32> context;
Context<32> context(uavcan::TransferTypeMessageBroadcast);
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@ -351,7 +353,7 @@ TEST(TransferReceiver, IntervalMeasurement)
TEST(TransferReceiver, Restart)
{
Context<32> context;
Context<32> context(uavcan::TransferTypeMessageBroadcast);
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@ -379,13 +381,13 @@ TEST(TransferReceiver, Restart)
* Begins OK, gets an iface timeout, switches to another iface
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET100, 1, 103000500), bk)); // Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET001, 1, 106000500), bk)); // 3 sec later, iface timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 1, 106000600), bk)); // Same TID, another iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 2, 106000700), bk)); // Not first frame - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, 2, 106000800), bk)); // First, another iface - restart
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET010, 1, 106000600), bk)); // Old iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET001, 2, 106000900), bk)); // Continuing
CHECK_COMPLETE( rcv.addFrame(gen(0, "1234567", SET010, 2, 106000910), bk)); // Done
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET001, 1, 104000500), bk)); // 1 sec later, iface timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 1, 104000600), bk)); // Same TID, another iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 2, 104000700), bk)); // Not first frame - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, 2, 104000800), bk)); // First, another iface - restart
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET010, 1, 104000600), bk)); // Old iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET001, 2, 104000900), bk)); // Continuing
CHECK_COMPLETE( rcv.addFrame(gen(0, "1234567", SET010, 2, 104000910), bk)); // Done
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456712345671234567"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
@ -397,7 +399,7 @@ TEST(TransferReceiver, Restart)
TEST(TransferReceiver, UtcTransferTimestamping)
{
Context<32> context;
Context<32> context(uavcan::TransferTypeMessageBroadcast);
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@ -448,96 +450,113 @@ TEST(TransferReceiver, UtcTransferTimestamping)
TEST(TransferReceiver, HeaderParsing)
{
Context<32> context;
RxFrameGenerator gen(123);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
static const uavcan::TransferType ADDRESSED_TRANSFER_TYPES[2] =
{
uavcan::TransferTypeServiceRequest,
uavcan::TransferTypeServiceResponse
};
static const std::string SFT_PAYLOAD = "1234567";
uavcan::TransferID tid;
/*
* MFT, message broadcasting
* Broadcast
*/
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), uavcan::TransferTypeMessageBroadcast);
uavcan::TransferBufferAccessor bk1(context.bufmgr, gen.bufmgr_key);
Context<32> context(uavcan::TransferTypeMessageBroadcast);
RxFrameGenerator gen(123);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, tid.get(), 1), bk1));
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET011, tid.get(), 2), bk1));
/*
* MFT, message broadcasting
*/
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), uavcan::TransferTypeMessageBroadcast);
uavcan::TransferBufferAccessor bk1(context.bufmgr, gen.bufmgr_key);
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567abcd"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, tid.get(), 1), bk1));
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET011, tid.get(), 2), bk1));
tid.increment();
bk1.remove();
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567abcd"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
tid.increment();
bk1.remove();
}
/*
* SFT, message broadcasting
*/
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), uavcan::TransferTypeMessageBroadcast);
uavcan::TransferBufferAccessor bk(context.bufmgr, gen.bufmgr_key);
const uavcan::RxFrame frame = gen(0, SFT_PAYLOAD, SET110, tid.get(), 1000);
CHECK_SINGLE_FRAME(rcv.addFrame(frame, bk));
ASSERT_EQ(0x0000, rcv.getLastTransferCrc()); // Default value - zero
// All bytes are payload, zero overhead
ASSERT_TRUE(std::equal(SFT_PAYLOAD.begin(), SFT_PAYLOAD.end(), frame.getPayloadPtr()));
tid.increment();
}
}
/*
* MFT, service request/response
* Unicast
*/
for (unsigned i = 0; i < (sizeof(ADDRESSED_TRANSFER_TYPES) / sizeof(ADDRESSED_TRANSFER_TYPES[0])); i++)
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), ADDRESSED_TRANSFER_TYPES[i]);
uavcan::TransferBufferAccessor bk2(context.bufmgr, gen.bufmgr_key);
Context<32> context(uavcan::TransferTypeServiceRequest);
RxFrameGenerator gen(123);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
const uint64_t ts_monotonic = i + 10;
static const uavcan::TransferType ADDRESSED_TRANSFER_TYPES[2] =
{
uavcan::TransferTypeServiceRequest,
uavcan::TransferTypeServiceResponse
};
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, tid.get(), ts_monotonic), bk2));
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET011, tid.get(), ts_monotonic), bk2));
/*
* MFT, service request/response
*/
for (unsigned i = 0; i < (sizeof(ADDRESSED_TRANSFER_TYPES) / sizeof(ADDRESSED_TRANSFER_TYPES[0])); i++)
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), ADDRESSED_TRANSFER_TYPES[i]);
uavcan::TransferBufferAccessor bk2(context.bufmgr, gen.bufmgr_key);
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567abcd"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
const uint64_t ts_monotonic = i + 10;
tid.increment();
bk2.remove();
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, tid.get(), ts_monotonic), bk2));
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET011, tid.get(), ts_monotonic), bk2));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567abcd"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
tid.increment();
bk2.remove();
}
/*
* SFT, message unicast, service request/response
*/
for (unsigned i = 0; i < int(sizeof(ADDRESSED_TRANSFER_TYPES) / sizeof(ADDRESSED_TRANSFER_TYPES[0])); i++)
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), ADDRESSED_TRANSFER_TYPES[i]);
uavcan::TransferBufferAccessor bk(context.bufmgr, gen.bufmgr_key);
const uavcan::RxFrame frame = gen(0, SFT_PAYLOAD, SET110, tid.get(), i + 10000U);
CHECK_SINGLE_FRAME(rcv.addFrame(frame, bk));
ASSERT_EQ(0x0000, rcv.getLastTransferCrc()); // Default value - zero
// First byte must be ignored
ASSERT_TRUE(std::equal(SFT_PAYLOAD.begin(), SFT_PAYLOAD.end(), frame.getPayloadPtr()));
tid.increment();
}
}
/*
* SFT, message broadcasting
*/
static const std::string SFT_PAYLOAD = "1234567";
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), uavcan::TransferTypeMessageBroadcast);
uavcan::TransferBufferAccessor bk(context.bufmgr, gen.bufmgr_key);
const uavcan::RxFrame frame = gen(0, SFT_PAYLOAD, SET110, tid.get(), 1000);
CHECK_SINGLE_FRAME(rcv.addFrame(frame, bk));
ASSERT_EQ(0x0000, rcv.getLastTransferCrc()); // Default value - zero
// All bytes are payload, zero overhead
ASSERT_TRUE(std::equal(SFT_PAYLOAD.begin(), SFT_PAYLOAD.end(), frame.getPayloadPtr()));
tid.increment();
}
/*
* SFT, message unicast, service request/response
*/
for (unsigned i = 0; i < int(sizeof(ADDRESSED_TRANSFER_TYPES) / sizeof(ADDRESSED_TRANSFER_TYPES[0])); i++)
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), ADDRESSED_TRANSFER_TYPES[i]);
uavcan::TransferBufferAccessor bk(context.bufmgr, gen.bufmgr_key);
const uavcan::RxFrame frame = gen(0, SFT_PAYLOAD, SET110, tid.get(), i + 10000U);
CHECK_SINGLE_FRAME(rcv.addFrame(frame, bk));
ASSERT_EQ(0x0000, rcv.getLastTransferCrc()); // Default value - zero
// First byte must be ignored
ASSERT_TRUE(std::equal(SFT_PAYLOAD.begin(), SFT_PAYLOAD.end(), frame.getPayloadPtr()));
tid.increment();
}
}