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TransferReceiver: on-the-fly CRC extraction from multi frame transfers saves 2 to 3 bytes of payload buffers

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This commit is contained in:
Pavel Kirienko
2014-02-12 12:34:48 +04:00
parent 0533539c7c
commit 5ceaafe419
3 changed files with 244 additions and 33 deletions
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libuavcan/test/transport/transfer_receiver.cpp
+147 -28
View File
@@ -6,6 +6,10 @@
#include <gtest/gtest.h>
#include <uavcan/internal/transport/transfer_receiver.hpp>
/*
* Beware!
* The code you're about to look at desperately needs some cleaning.
*/
struct RxFrameGenerator
{
@@ -48,7 +52,7 @@ struct RxFrameGenerator
}
};
const uavcan::TransferBufferManagerKey RxFrameGenerator::DEFAULT_KEY(42, uavcan::TRANSFER_TYPE_MESSAGE_UNICAST);
const uavcan::TransferBufferManagerKey RxFrameGenerator::DEFAULT_KEY(42, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
template <unsigned int BUFSIZE>
@@ -122,10 +126,11 @@ TEST(TransferReceiver, Basic)
* Valid compound transfer
* Args: iface_index, data, frame_index, last, transfer_id, timestamp
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 0, 100), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x34\x12" "345678", 0, false, 0, 100), bk));
CHECK_COMPLETE(rcv.addFrame(gen(0, "foo", 1, true, 0, 200), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678foo"));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678foo"));
ASSERT_EQ(0x1234, rcv.getLastTransferCrc());
ASSERT_EQ(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval()); // Not initialized yet
ASSERT_EQ(100, rcv.getLastTransferTimestampMonotonic());
@@ -134,7 +139,7 @@ TEST(TransferReceiver, Basic)
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, false, 0, 300), bk)); // Previous TID, rejected
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "rty", 0, false, 0, 300), bk)); // Previous TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 1, 1000), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x9a\x78" "345678", 0, false, 1, 1000), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", 0, false, 1, 1100), bk)); // Old FI
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "abcdefgh", 1, false, 1, 1200), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "45678910", 1, false, 2, 1300), bk)); // Next TID, but FI > 0
@@ -142,7 +147,8 @@ TEST(TransferReceiver, Basic)
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 31,true, 1, 1300), bk)); // Unexpected FI
CHECK_COMPLETE( rcv.addFrame(gen(0, "", 2, true, 1, 1300), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678abcdefgh"));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678abcdefgh"));
ASSERT_EQ(0x789A, rcv.getLastTransferCrc());
ASSERT_GT(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_LT(TransferReceiver::MIN_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_EQ(1000, rcv.getLastTransferTimestampMonotonic());
@@ -192,7 +198,7 @@ TEST(TransferReceiver, Basic)
ASSERT_EQ(100000100, rcv.getLastTransferTimestampMonotonic());
ASSERT_TRUE(rcv.isTimedOut(900000000));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 11, 900000000), bk));// Global timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "\x78\x56" "345678", 0, false, 11, 900000000), bk));// Global timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 11, 900000100), bk));// Wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 1, true, 11, 900000200), bk));// Wrong iface
CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", 1, true, 11, 900000200), bk));
@@ -203,7 +209,8 @@ TEST(TransferReceiver, Basic)
ASSERT_LT(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_LE(TransferReceiver::MIN_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_GE(TransferReceiver::MAX_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwe"));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwe"));
ASSERT_EQ(0x5678, rcv.getLastTransferCrc());
/*
* Destruction
@@ -225,26 +232,27 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
/*
* Simple transfer, maximum buffer length
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 10, 100000000), bk)); // 8
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 10, 100000100), bk)); // 16
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 10, 100000200), bk)); // 24
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 10, 100000300), bk)); // 32
CHECK_COMPLETE( rcv.addFrame(gen(1, "", 4, true, 10, 100000400), bk)); // 32
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 10, 100000000), bk)); // 6
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 10, 100000100), bk)); // 14
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 10, 100000200), bk)); // 22
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 10, 100000300), bk)); // 30
CHECK_COMPLETE( rcv.addFrame(gen(1, "12", 4, true, 10, 100000400), bk)); // 32
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678123456781234567812345678"));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567812345678123456781234567812"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc()); // CRC from "12", which is 0x3231 in little endian
/*
* Transfer longer than available buffer space
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 11, 100001000), bk)); // 8
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 11, 100001100), bk)); // 16
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 11, 100001200), bk)); // 24
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 11, 100001200), bk)); // 32
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 4, true, 11, 100001300), bk)); // 40 // EOT, ignored - lost sync
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 11, 100001000), bk)); // 6
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 11, 100001100), bk)); // 14
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 11, 100001200), bk)); // 22
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 11, 100001200), bk)); // 30
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 4, true, 11, 100001300), bk)); // 38 // EOT, ignored - lost sync
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer should be removed
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic()); // Timestamp will not be overriden
ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer should be removed
}
@@ -264,7 +272,8 @@ TEST(TransferReceiver, UnterminatedTransfer)
}
CHECK_COMPLETE(rcv.addFrame(gen(1, "12345678", uavcan::Frame::FRAME_INDEX_MAX, true, 0, 1100), bk));
ASSERT_EQ(1000, rcv.getLastTransferTimestampMonotonic());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), content));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), std::string(content, 2)));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
}
@@ -284,7 +293,8 @@ TEST(TransferReceiver, OutOfOrderFrames)
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 10, 100000400), bk));
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
}
@@ -306,7 +316,8 @@ TEST(TransferReceiver, IntervalMeasurement)
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, tid.get(), timestamp), bk));
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, tid.get(), timestamp), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
ASSERT_EQ(timestamp, rcv.getLastTransferTimestampMonotonic());
timestamp += INTERVAL;
@@ -339,7 +350,8 @@ TEST(TransferReceiver, Restart)
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 0, 13000300), bk));// 3 sec later, iface timeout
CHECK_COMPLETE( rcv.addFrame(gen(1, "12345678", 2, true, 0, 13000400), bk));// OK nevertheless
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "123456781234567812345678"));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456781234567812345678"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
/*
* Begins OK, gets an iface timeout, switches to another iface
@@ -353,7 +365,8 @@ TEST(TransferReceiver, Restart)
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 1, false, 2, 16000900), bk));// Continuing
CHECK_COMPLETE( rcv.addFrame(gen(0, "12345678", 2, true, 2, 16000910), bk));// Done
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "123456781234567812345678"));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456781234567812345678"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
}
@@ -372,7 +385,7 @@ TEST(TransferReceiver, UtcTransferTimestamping)
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 0, 2, 0), bk));
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 0, 3, 0), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
ASSERT_EQ(1, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(0, rcv.getLastTransferTimestampUtc());
@@ -383,7 +396,7 @@ TEST(TransferReceiver, UtcTransferTimestamping)
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();
}
}