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Acceptance filter update for new transport layer

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This commit is contained in:
ilia-sheremet 2015-07-24 21:04:56 +01:00
parent ad12760d7f
commit 5fa5a4f365
3 changed files with 90 additions and 60 deletions
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46
libuavcan/include/uavcan/transport/can_acceptance_filter_configurator.hpp
View File

@ -16,6 +16,10 @@
namespace uavcan
{
/**
* These arguments defines whether acceptance filter configuration has anonymous massages or not
*/
enum AnonMassagePresence {WithAnonMsg,NoAnonMsg};
/**
* This class configures hardware acceptance filters (if this feature is present on the particular CAN driver) to
@ -35,22 +39,25 @@ namespace uavcan
class CanAcceptanceFilterConfigurator
{
/**
* Below constants based on UAVCAN transport layer specification. Masks and ID's depends on message Priority,
* TypeID, TransferID (RequestNotResponse - for service types, BroadcastNotUnicast - for message types).
* Below constants based on UAVCAN transport layer specification. Masks and ID's depends on message
* TypeID, TransferID (RequestNotResponse - for service types, ServiceNotMessage - for all types of messages).
* For more details refer to uavcan.org/CAN_bus_transport_layer_specification.
* For clarity let's represent "i" as Data Type ID
* DefaultFilterMsgMask = 00111111111110000000000000000
* DefaultFilterMsgID = 00iiiiiiiiiii0000000000000000, no need to explicitly define, since MsgID initialized as 0.
* DefaultFilterServiceRequestMask = 11111111111100000000000000000
* DefaultFilterServiceRequestID = 101iiiiiiiii00000000000000000
* ServiceRespFrameMask = 11100000000000000000000000000
* ServiceRespFrameID = 10000000000000000000000000000, all Service Response Frames are accepted by HW filters.
* For clarity let's represent "i" as Data Type ID and "d" as Destination Node Id
* DefaultFilterMsgMask = 00000 11111111 11111111 10000000
* DefaultFilterMsgID = 00000 iiiiiiii iiiiiiii 00000000, no need to explicitly define, since MsgID initialized
* as 0.
* DefaultFilterServiceMask = 00000 00000000 01111111 10000000
* DefaultFilterServiceID = 00000 00000000 0ddddddd 10000000, all Service Response Frames are accepted by
* HW filters.
* DefaultAnonMsgMask = 00000 00000000 00000000 11111111
* DefaultAnonMsgID = 00000 00000000 00000000 00000000, by default the config is added to accept all anonymous
* frames. In case there are no anonymous massages, invoke configureFilters(NoAnonMsg).
*/
static const unsigned DefaultFilterMsgMask = 0x7FF0000;
static const unsigned DefaultFilterServiceRequestID = 0x14000000;
static const unsigned DefaultFilterServiceRequestMask = 0x1FFE0000;
static const unsigned ServiceRespFrameID = 0x10000000;
static const unsigned ServiceRespFrameMask = 0x1C000000;
static const unsigned DefaultFilterMsgMask = 0xFFFF80;
static const unsigned DefaultFilterServiceMask = 0x7F80;
static const unsigned DefaultFilterServiceID = 0x80;
static const unsigned DefaultAnonMsgMask = 0xF;
static const unsigned DefaultAnonMsgID = 0x0;
typedef uavcan::Multiset<CanFilterConfig, 1> MultisetConfigContainer;
@ -61,7 +68,7 @@ class CanAcceptanceFilterConfigurator
/**
* Fills the multiset_configs_ to proceed it with computeConfiguration()
*/
int16_t loadInputConfiguration();
int16_t loadInputConfiguration(AnonMassagePresence load_mode);
/**
* This method merges several listeners's filter configurations by predetermined algorithm
@ -84,11 +91,12 @@ public:
{ }
/**
* This method invokes loadInputConfiguration(), computeConfiguration() and applyConfiguration() consequently, so that
* optimal acceptance filter configuration will be computed and loaded through CanDriver::configureFilters()
* @return 0 = success, negative for error.
* This method invokes loadInputConfiguration(), computeConfiguration() and applyConfiguration() consequently, so
* that optimal acceptance filter configuration will be computed and loaded through CanDriver::configureFilters()
* @return 0 = success, negative for error. Input argument defines the presence of anonymous massages
* WithAnonMsg(default)/NoAnonMsg.
*/
int configureFilters();
int configureFilters(AnonMassagePresence mode = WithAnonMsg);
/**
* Returns the configuration computed with computeConfiguration().

47
libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp
View File

@ -9,18 +9,30 @@
namespace uavcan
{
const unsigned CanAcceptanceFilterConfigurator::DefaultFilterMsgMask;
const unsigned CanAcceptanceFilterConfigurator::DefaultFilterServiceRequestID;
const unsigned CanAcceptanceFilterConfigurator::DefaultFilterServiceRequestMask;
const unsigned CanAcceptanceFilterConfigurator::ServiceRespFrameID;
const unsigned CanAcceptanceFilterConfigurator::ServiceRespFrameMask;
const unsigned CanAcceptanceFilterConfigurator::DefaultFilterServiceID;
const unsigned CanAcceptanceFilterConfigurator::DefaultFilterServiceMask;
const unsigned CanAcceptanceFilterConfigurator::DefaultAnonMsgMask;
const unsigned CanAcceptanceFilterConfigurator::DefaultAnonMsgID;
int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration()
int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration(AnonMassagePresence load_mode)
{
multiset_configs_.clear();
if (load_mode == WithAnonMsg)
{
CanFilterConfig anon_frame_cfg;
anon_frame_cfg.id = DefaultAnonMsgID;
anon_frame_cfg.mask = DefaultAnonMsgMask;
if (multiset_configs_.emplace(anon_frame_cfg) == NULL)
{
return -ErrMemory;
}
}
CanFilterConfig service_resp_cfg;
service_resp_cfg.id = ServiceRespFrameID;
service_resp_cfg.mask = ServiceRespFrameMask;
service_resp_cfg.id = DefaultFilterServiceID;
service_resp_cfg.id |= static_cast<uint32_t>(node_.getNodeID().get()) << 8;
service_resp_cfg.mask = DefaultFilterServiceMask;
if (multiset_configs_.emplace(service_resp_cfg) == NULL)
{
return -ErrMemory;
@ -30,8 +42,7 @@ int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration()
while (p)
{
CanFilterConfig cfg;
cfg.id = static_cast<uint32_t>(p->getDataTypeDescriptor().getID().get()) << 16;
cfg.id |= static_cast<uint32_t>(p->getDataTypeDescriptor().getKind()) << 8;
cfg.id = static_cast<uint32_t>(p->getDataTypeDescriptor().getID().get()) << 8;
cfg.mask = DefaultFilterMsgMask;
if (multiset_configs_.emplace(cfg) == NULL)
{
@ -40,20 +51,6 @@ int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration()
p = p->getNextListNode();
}
const TransferListenerBase* p1 = node_.getDispatcher().getListOfServiceRequestListeners().get();
while (p1)
{
CanFilterConfig cfg;
cfg.id = DefaultFilterServiceRequestID;
cfg.id |= static_cast<uint32_t>(p1->getDataTypeDescriptor().getID().get()) << 17;
cfg.mask = DefaultFilterServiceRequestMask;
if (multiset_configs_.emplace(cfg) == NULL)
{
return -ErrMemory;
}
p1 = p1->getNextListNode();
}
if (multiset_configs_.getSize() == 0)
{
return -ErrLogic;
@ -152,7 +149,7 @@ int16_t CanAcceptanceFilterConfigurator::applyConfiguration(void)
return 0;
}
int CanAcceptanceFilterConfigurator::configureFilters()
int CanAcceptanceFilterConfigurator::configureFilters(AnonMassagePresence mode)
{
if (getNumFilters() == 0)
{
@ -160,7 +157,7 @@ int CanAcceptanceFilterConfigurator::configureFilters()
return -ErrDriver;
}
int16_t fill_array_error = loadInputConfiguration();
int16_t fill_array_error = loadInputConfiguration(mode);
if (fill_array_error != 0)
{
UAVCAN_TRACE("CanAcceptanceFilter::loadInputConfiguration", "Failed to execute loadInputConfiguration()");

57
libuavcan/test/transport/can_acceptance_filter_configurator.cpp
View File

@ -19,10 +19,7 @@
#include <uavcan/node/service_client.hpp>
#include <uavcan/node/service_server.hpp>
#include <iostream>
#include <bitset>
// TODO FIXME: Requires update
#if 0
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
template <typename DataType>
@ -128,14 +125,15 @@ TEST(CanAcceptanceFilter, Basic_test)
server.start(writeServiceServerCallback);
std::cout << "Subscribers are initialized ..." << std::endl;
uavcan::CanAcceptanceFilterConfigurator test_configurator(node);
int configure_filters_assert = test_configurator.configureFilters();
uavcan::CanAcceptanceFilterConfigurator anon_test_configuration(node);
int configure_filters_assert = anon_test_configuration.configureFilters();
if (configure_filters_assert == 0)
{
std::cout << "Filters are configured ..." << std::endl;
std::cout << "Filters are configured with anonymous configuration..." << std::endl;
}
const auto& configure_array = test_configurator.getConfiguration();
const auto& configure_array = anon_test_configuration.getConfiguration();
uint32_t configure_array_size = configure_array.getSize();
ASSERT_EQ(configure_filters_assert, 0);
@ -147,14 +145,41 @@ TEST(CanAcceptanceFilter, Basic_test)
std::cout << "config.MK [" << i << "]= " << configure_array.getByIndex(i)->mask << std::endl;
}
ASSERT_EQ(configure_array.getByIndex(0)->id, 268435456);
ASSERT_EQ(configure_array.getByIndex(0)->mask, 469762048);
ASSERT_EQ(configure_array.getByIndex(1)->id, 363069440);
ASSERT_EQ(configure_array.getByIndex(1)->mask, 536739840);
ASSERT_EQ(configure_array.getByIndex(2)->id, 16777216);
ASSERT_EQ(configure_array.getByIndex(2)->mask, 124452864);
ASSERT_EQ(configure_array.getByIndex(3)->id, 18874368);
ASSERT_EQ(configure_array.getByIndex(3)->mask, 133169152);
ASSERT_EQ(configure_array.getByIndex(0)->id, 0);
ASSERT_EQ(configure_array.getByIndex(0)->mask, 15);
ASSERT_EQ(configure_array.getByIndex(1)->id, 256000);
ASSERT_EQ(configure_array.getByIndex(1)->mask, 16771968);
ASSERT_EQ(configure_array.getByIndex(2)->id, 6272);
ASSERT_EQ(configure_array.getByIndex(2)->mask, 32640);
ASSERT_EQ(configure_array.getByIndex(3)->id, 262144);
ASSERT_EQ(configure_array.getByIndex(3)->mask, 16771200);
uavcan::CanAcceptanceFilterConfigurator no_anon_test_confiruration(node);
configure_filters_assert = no_anon_test_confiruration.configureFilters(uavcan::NoAnonMsg);
if (configure_filters_assert == 0)
{
std::cout << "Filters are configured without anonymous configuration..."<< std::endl;
}
const auto& configure_array_2 = no_anon_test_confiruration.getConfiguration();
configure_array_size = configure_array_2.getSize();
ASSERT_EQ(configure_filters_assert, 0);
ASSERT_EQ(configure_array_size, 4);
for (uint16_t i = 0; i<configure_array_size; i++)
{
std::cout << "config.ID [" << i << "]= " << configure_array.getByIndex(i)->id << std::endl;
std::cout << "config.MK [" << i << "]= " << configure_array.getByIndex(i)->mask << std::endl;
}
ASSERT_EQ(configure_array_2.getByIndex(0)->id, 6272);
ASSERT_EQ(configure_array_2.getByIndex(0)->mask, 32640);
ASSERT_EQ(configure_array_2.getByIndex(1)->id, 262144);
ASSERT_EQ(configure_array_2.getByIndex(1)->mask, 16776320);
ASSERT_EQ(configure_array_2.getByIndex(2)->id, 256000);
ASSERT_EQ(configure_array_2.getByIndex(2)->mask, 16771968);
ASSERT_EQ(configure_array_2.getByIndex(3)->id, 262144);
ASSERT_EQ(configure_array_2.getByIndex(3)->mask, 16771968);
}
#endif
#endif