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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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TransferReceiver: on-the-fly CRC extraction from multi frame transfers saves 2 to 3 bytes of payload buffers
This commit is contained in:
Pavel Kirienko
parent
0533539c7c
commit
5ceaafe419
@ -29,6 +29,8 @@ private:
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uint64_t this_transfer_ts_monotonic_;
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uint64_t first_frame_ts_utc_;
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uint32_t transfer_interval_;
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uint16_t this_transfer_crc_;
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uint16_t buffer_write_pos_;
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TransferID tid_;
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uint8_t iface_index_;
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uint8_t next_frame_index_;
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@ -41,6 +43,7 @@ private:
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void prepareForNextTransfer();
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bool validate(const RxFrame& frame) const;
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bool writePayload(const RxFrame& frame, TransferBufferBase& buf);
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ResultCode receive(const RxFrame& frame, TransferBufferAccessor& tba);
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TransferReceiver(const TransferReceiver&); // = delete (not needed)
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@ -51,6 +54,8 @@ public:
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, this_transfer_ts_monotonic_(0)
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, first_frame_ts_utc_(0)
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, transfer_interval_(DEFAULT_TRANSFER_INTERVAL)
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, this_transfer_crc_(0)
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, buffer_write_pos_(0)
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, iface_index_(IFACE_INDEX_NOTSET)
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, next_frame_index_(0)
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{ }
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@ -62,7 +67,11 @@ public:
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uint64_t getLastTransferTimestampMonotonic() const { return prev_transfer_ts_monotonic_; }
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uint64_t getLastTransferTimestampUtc() const { return first_frame_ts_utc_; }
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uint16_t getLastTransferCrc() const { return this_transfer_crc_; }
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uint32_t getInterval() const { return transfer_interval_; }
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static bool extractSingleFrameTransferPayload(const RxFrame& frame, uint8_t* out_data, unsigned int& out_len);
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};
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#pragma pack(pop)
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@ -47,6 +47,7 @@ void TransferReceiver::prepareForNextTransfer()
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{
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tid_.increment();
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next_frame_index_ = 0;
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buffer_write_pos_ = 0;
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}
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bool TransferReceiver::validate(const RxFrame& frame) const
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@ -86,22 +87,71 @@ bool TransferReceiver::validate(const RxFrame& frame) const
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return true;
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}
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bool TransferReceiver::writePayload(const RxFrame& frame, TransferBufferBase& buf)
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{
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if (frame.frame_index == 0)
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{
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unsigned int payload_offset = 0;
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unsigned int crc_offset = 0;
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switch (frame.transfer_type)
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{
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case TRANSFER_TYPE_MESSAGE_BROADCAST:
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payload_offset = 2;
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crc_offset = 0;
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break;
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case TRANSFER_TYPE_SERVICE_RESPONSE: // Addressed transfers have 1-byte overhead for Destination Node ID
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case TRANSFER_TYPE_SERVICE_REQUEST:
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case TRANSFER_TYPE_MESSAGE_UNICAST:
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payload_offset = 3;
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crc_offset = 1;
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break;
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default:
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UAVCAN_TRACE("TransferReceiver", "Invalid transfer type, %s", frame.toString().c_str());
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return RESULT_NOT_COMPLETE;
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}
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this_transfer_crc_ =
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(frame.payload[crc_offset] & 0xFF) |
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(uint16_t(frame.payload[crc_offset + 1] & 0xFF) << 8); // little endian
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const int effective_payload_len = frame.payload_len - payload_offset;
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const int res = buf.write(buffer_write_pos_, frame.payload + payload_offset, effective_payload_len);
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const bool success = res == effective_payload_len;
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if (success)
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buffer_write_pos_ += effective_payload_len;
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return success;
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}
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else
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{
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const int res = buf.write(buffer_write_pos_, frame.payload, frame.payload_len);
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const bool success = res == frame.payload_len;
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if (success)
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buffer_write_pos_ += frame.payload_len;
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return success;
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}
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}
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TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame, TransferBufferAccessor& tba)
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{
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// Transfer timestamps are derived from the first frame
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if (frame.frame_index == 0)
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{
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this_transfer_ts_monotonic_ = frame.ts_monotonic;
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first_frame_ts_utc_ = frame.ts_utc;
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}
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if ((frame.frame_index == 0) && frame.last_frame) // Single-frame transfer
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// Single-frame transfer
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if ((frame.frame_index == 0) && frame.last_frame)
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{
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tba.remove();
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updateTransferTimings();
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prepareForNextTransfer();
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this_transfer_crc_ = 0; // SFT has no CRC
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return RESULT_SINGLE_FRAME;
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}
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// Payload write
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TransferBufferBase* buf = tba.access();
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if (buf == NULL)
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buf = tba.create();
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@ -111,11 +161,9 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame, Tra
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prepareForNextTransfer();
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return RESULT_NOT_COMPLETE;
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}
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const int res = buf->write(Frame::PAYLOAD_LEN_MAX * frame.frame_index, frame.payload, frame.payload_len);
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if (res != frame.payload_len)
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if (!writePayload(frame, *buf))
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{
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UAVCAN_TRACE("TransferReceiver", "Buffer write failure [%i], %s", res, frame.toString().c_str());
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UAVCAN_TRACE("TransferReceiver", "Payload write failed, %s", frame.toString().c_str());
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tba.remove();
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prepareForNextTransfer();
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return RESULT_NOT_COMPLETE;
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@ -172,6 +220,8 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, Tr
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iface_index_ = frame.iface_index;
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tid_ = frame.transfer_id;
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next_frame_index_ = 0;
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buffer_write_pos_ = 0;
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this_transfer_crc_ = 0;
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if (!first_fame)
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{
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tid_.increment();
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@ -185,4 +235,37 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, Tr
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return receive(frame, tba);
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}
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bool TransferReceiver::extractSingleFrameTransferPayload(const RxFrame& frame, uint8_t* out_data,
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unsigned int& out_len)
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{
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if (out_data == NULL)
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{
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assert(0);
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return false;
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}
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out_len = 0;
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unsigned int offset = 0;
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switch (frame.transfer_type)
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{
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case TRANSFER_TYPE_MESSAGE_BROADCAST:
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offset = 0;
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break;
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case TRANSFER_TYPE_SERVICE_RESPONSE: // Addressed transfers have 1-byte overhead for Destination Node ID
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case TRANSFER_TYPE_SERVICE_REQUEST:
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case TRANSFER_TYPE_MESSAGE_UNICAST:
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offset = 1;
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break;
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default:
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return false;
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}
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if (frame.payload_len < offset)
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return false;
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out_len = frame.payload_len - offset;
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std::copy(frame.payload + offset, frame.payload + offset + out_len, out_data);
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return true;
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}
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}
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@ -6,6 +6,10 @@
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#include <gtest/gtest.h>
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#include <uavcan/internal/transport/transfer_receiver.hpp>
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/*
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* Beware!
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* The code you're about to look at desperately needs some cleaning.
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*/
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struct RxFrameGenerator
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{
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@ -48,7 +52,7 @@ struct RxFrameGenerator
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}
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};
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const uavcan::TransferBufferManagerKey RxFrameGenerator::DEFAULT_KEY(42, uavcan::TRANSFER_TYPE_MESSAGE_UNICAST);
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const uavcan::TransferBufferManagerKey RxFrameGenerator::DEFAULT_KEY(42, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
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template <unsigned int BUFSIZE>
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@ -122,10 +126,11 @@ TEST(TransferReceiver, Basic)
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* Valid compound transfer
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* Args: iface_index, data, frame_index, last, transfer_id, timestamp
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*/
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 0, 100), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x34\x12" "345678", 0, false, 0, 100), bk));
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CHECK_COMPLETE(rcv.addFrame(gen(0, "foo", 1, true, 0, 200), bk));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678foo"));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678foo"));
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ASSERT_EQ(0x1234, rcv.getLastTransferCrc());
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ASSERT_EQ(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval()); // Not initialized yet
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ASSERT_EQ(100, rcv.getLastTransferTimestampMonotonic());
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@ -134,7 +139,7 @@ TEST(TransferReceiver, Basic)
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*/
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, false, 0, 300), bk)); // Previous TID, rejected
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "rty", 0, false, 0, 300), bk)); // Previous TID, wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 1, 1000), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x9a\x78" "345678", 0, false, 1, 1000), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", 0, false, 1, 1100), bk)); // Old FI
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "abcdefgh", 1, false, 1, 1200), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "45678910", 1, false, 2, 1300), bk)); // Next TID, but FI > 0
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@ -142,7 +147,8 @@ TEST(TransferReceiver, Basic)
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 31,true, 1, 1300), bk)); // Unexpected FI
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CHECK_COMPLETE( rcv.addFrame(gen(0, "", 2, true, 1, 1300), bk));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678abcdefgh"));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678abcdefgh"));
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ASSERT_EQ(0x789A, rcv.getLastTransferCrc());
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ASSERT_GT(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
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ASSERT_LT(TransferReceiver::MIN_TRANSFER_INTERVAL, rcv.getInterval());
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ASSERT_EQ(1000, rcv.getLastTransferTimestampMonotonic());
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@ -192,7 +198,7 @@ TEST(TransferReceiver, Basic)
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ASSERT_EQ(100000100, rcv.getLastTransferTimestampMonotonic());
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ASSERT_TRUE(rcv.isTimedOut(900000000));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 11, 900000000), bk));// Global timeout
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "\x78\x56" "345678", 0, false, 11, 900000000), bk));// Global timeout
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 11, 900000100), bk));// Wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 1, true, 11, 900000200), bk));// Wrong iface
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CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", 1, true, 11, 900000200), bk));
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@ -203,7 +209,8 @@ TEST(TransferReceiver, Basic)
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ASSERT_LT(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
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ASSERT_LE(TransferReceiver::MIN_TRANSFER_INTERVAL, rcv.getInterval());
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ASSERT_GE(TransferReceiver::MAX_TRANSFER_INTERVAL, rcv.getInterval());
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwe"));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwe"));
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ASSERT_EQ(0x5678, rcv.getLastTransferCrc());
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/*
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* Destruction
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@ -225,26 +232,27 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
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/*
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* Simple transfer, maximum buffer length
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*/
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 10, 100000000), bk)); // 8
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 10, 100000100), bk)); // 16
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 10, 100000200), bk)); // 24
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 10, 100000300), bk)); // 32
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CHECK_COMPLETE( rcv.addFrame(gen(1, "", 4, true, 10, 100000400), bk)); // 32
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 10, 100000000), bk)); // 6
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 10, 100000100), bk)); // 14
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 10, 100000200), bk)); // 22
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 10, 100000300), bk)); // 30
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CHECK_COMPLETE( rcv.addFrame(gen(1, "12", 4, true, 10, 100000400), bk)); // 32
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ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678123456781234567812345678"));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567812345678123456781234567812"));
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ASSERT_EQ(0x3231, rcv.getLastTransferCrc()); // CRC from "12", which is 0x3231 in little endian
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/*
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* Transfer longer than available buffer space
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*/
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 11, 100001000), bk)); // 8
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 11, 100001100), bk)); // 16
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 11, 100001200), bk)); // 24
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 11, 100001200), bk)); // 32
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 4, true, 11, 100001300), bk)); // 40 // EOT, ignored - lost sync
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 11, 100001000), bk)); // 6
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 11, 100001100), bk)); // 14
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 11, 100001200), bk)); // 22
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 11, 100001200), bk)); // 30
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 4, true, 11, 100001300), bk)); // 38 // EOT, ignored - lost sync
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ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
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ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer should be removed
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ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic()); // Timestamp will not be overriden
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ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer should be removed
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}
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@ -264,7 +272,8 @@ TEST(TransferReceiver, UnterminatedTransfer)
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}
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CHECK_COMPLETE(rcv.addFrame(gen(1, "12345678", uavcan::Frame::FRAME_INDEX_MAX, true, 0, 1100), bk));
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ASSERT_EQ(1000, rcv.getLastTransferTimestampMonotonic());
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), content));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), std::string(content, 2)));
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ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
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}
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@ -284,7 +293,8 @@ TEST(TransferReceiver, OutOfOrderFrames)
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CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 10, 100000400), bk));
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ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
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ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
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}
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@ -306,7 +316,8 @@ TEST(TransferReceiver, IntervalMeasurement)
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, tid.get(), timestamp), bk));
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CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, tid.get(), timestamp), bk));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
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ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
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ASSERT_EQ(timestamp, rcv.getLastTransferTimestampMonotonic());
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timestamp += INTERVAL;
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@ -339,7 +350,8 @@ TEST(TransferReceiver, Restart)
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 0, 13000300), bk));// 3 sec later, iface timeout
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CHECK_COMPLETE( rcv.addFrame(gen(1, "12345678", 2, true, 0, 13000400), bk));// OK nevertheless
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "123456781234567812345678"));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456781234567812345678"));
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ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
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/*
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* Begins OK, gets an iface timeout, switches to another iface
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@ -353,7 +365,8 @@ TEST(TransferReceiver, Restart)
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 1, false, 2, 16000900), bk));// Continuing
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CHECK_COMPLETE( rcv.addFrame(gen(0, "12345678", 2, true, 2, 16000910), bk));// Done
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "123456781234567812345678"));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456781234567812345678"));
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ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
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}
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@ -372,7 +385,7 @@ TEST(TransferReceiver, UtcTransferTimestamping)
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 0, 2, 0), bk));
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CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 0, 3, 0), bk));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
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ASSERT_EQ(1, rcv.getLastTransferTimestampMonotonic());
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ASSERT_EQ(0, rcv.getLastTransferTimestampUtc());
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@ -383,7 +396,7 @@ TEST(TransferReceiver, UtcTransferTimestamping)
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 1, 5, 0), bk)); // Following are ignored
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 1, 6, 42), bk));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
|
||||
ASSERT_EQ(4, rcv.getLastTransferTimestampMonotonic());
|
||||
ASSERT_EQ(123, rcv.getLastTransferTimestampUtc());
|
||||
|
||||
@ -401,7 +414,113 @@ TEST(TransferReceiver, UtcTransferTimestamping)
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", 1, false, 1, 100000001, 300000000), bk));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", 2, true, 1, 100000002, 900000000), bk));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
|
||||
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
|
||||
ASSERT_EQ(800000000, rcv.getLastTransferTimestampUtc());
|
||||
}
|
||||
|
||||
|
||||
TEST(TransferReceiver, HeaderParsing)
|
||||
{
|
||||
Context<32> context;
|
||||
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
|
||||
uavcan::TransferReceiver& rcv = context.receiver;
|
||||
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
|
||||
|
||||
static const uavcan::TransferType ADDRESSED_TRANSFER_TYPES[3] =
|
||||
{
|
||||
uavcan::TRANSFER_TYPE_MESSAGE_UNICAST,
|
||||
uavcan::TRANSFER_TYPE_SERVICE_REQUEST,
|
||||
uavcan::TRANSFER_TYPE_SERVICE_RESPONSE
|
||||
};
|
||||
|
||||
uavcan::TransferID tid;
|
||||
|
||||
/*
|
||||
* MFT, message broadcasting
|
||||
*/
|
||||
{
|
||||
gen.bufmgr_key =
|
||||
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
|
||||
uavcan::TransferBufferAccessor bk1(&context.bufmgr, gen.bufmgr_key);
|
||||
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, tid.get(), 1), bk1));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", 1, true, tid.get(), 2), bk1));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678abcd"));
|
||||
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
|
||||
|
||||
tid.increment();
|
||||
bk1.remove();
|
||||
}
|
||||
|
||||
/*
|
||||
* MFT, message unicast, service request/response
|
||||
*/
|
||||
for (int 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 bk2(&context.bufmgr, gen.bufmgr_key);
|
||||
|
||||
const uint64_t ts_monotonic = i + 10;
|
||||
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, tid.get(), ts_monotonic), bk2));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", 1, true, tid.get(), ts_monotonic), bk2));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "45678abcd"));
|
||||
ASSERT_EQ(0x3332, rcv.getLastTransferCrc()); // Second and third bytes
|
||||
|
||||
tid.increment();
|
||||
bk2.remove();
|
||||
}
|
||||
|
||||
/*
|
||||
* SFT, message broadcasting
|
||||
*/
|
||||
static const std::string SFT_PAYLOAD = "12345678";
|
||||
|
||||
{
|
||||
gen.bufmgr_key =
|
||||
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
|
||||
uavcan::TransferBufferAccessor bk(&context.bufmgr, gen.bufmgr_key);
|
||||
|
||||
const uavcan::RxFrame frame = gen(0, SFT_PAYLOAD, 0, true, tid.get(), 1000);
|
||||
|
||||
CHECK_SINGLE_FRAME(rcv.addFrame(frame, bk));
|
||||
ASSERT_EQ(0x0000, rcv.getLastTransferCrc()); // Default value - zero
|
||||
|
||||
uint8_t payload[uavcan::Frame::PAYLOAD_LEN_MAX];
|
||||
unsigned int payload_len = 0xFFFF;
|
||||
ASSERT_TRUE(uavcan::TransferReceiver::extractSingleFrameTransferPayload(frame, payload, payload_len));
|
||||
|
||||
// All bytes are payload, zero overhead
|
||||
ASSERT_TRUE(std::equal(SFT_PAYLOAD.begin(), SFT_PAYLOAD.end(), payload));
|
||||
|
||||
tid.increment();
|
||||
}
|
||||
|
||||
/*
|
||||
* SFT, message unicast, service request/response
|
||||
*/
|
||||
for (int 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, 0, true, tid.get(), i + 10000);
|
||||
|
||||
CHECK_SINGLE_FRAME(rcv.addFrame(frame, bk));
|
||||
ASSERT_EQ(0x0000, rcv.getLastTransferCrc()); // Default value - zero
|
||||
|
||||
uint8_t payload[uavcan::Frame::PAYLOAD_LEN_MAX];
|
||||
unsigned int payload_len = 0xFFFF;
|
||||
ASSERT_TRUE(uavcan::TransferReceiver::extractSingleFrameTransferPayload(frame, payload, payload_len));
|
||||
|
||||
// First byte must be ignored
|
||||
ASSERT_TRUE(std::equal(SFT_PAYLOAD.begin() + 1, SFT_PAYLOAD.end(), payload));
|
||||
|
||||
tid.increment();
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user