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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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libuavcan/src/transport/uc_transfer_listener.cpp
+1 -1
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)
{
libuavcan/src/transport/uc_transfer_receiver.cpp
+35 -14
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();
}