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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/test/transport/transfer_receiver.cpp
+104 -85
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@@ -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();
}
}