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NodeInfoRetriever - docs, logical fixes, tests

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This commit is contained in:
Pavel Kirienko
2015-05-17 16:29:19 +03:00
parent 36dda9c017
commit 600c29a953
2 changed files with 135 additions and 32 deletions
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libuavcan/include/uavcan/protocol/node_info_retriever.hpp
+52 -21
View File
@@ -61,8 +61,32 @@ public:
/**
* This class automatically retrieves a response to GetNodeInfo once a node appears online or restarts.
* It does a number of attempts in case if there's a communication failure before assuming that the node does not
* implement the GetNodeInfo service.
* Events from this class can be routed to many subscribers.
* implement the GetNodeInfo service. All parameters are pre-configured with sensible default values that should fit
* virtually any use case, but they can be overriden if needed - refer to the setter methods below for details.
*
* Defaults are pre-configured so that the class is able to query 123 nodes (node ID 1..125, where 1 is our local
* node and 1 is one node that implements GetNodeInfo service, hence 123) of which none implements GetNodeInfo
* service in under 5 seconds. The 5 second limitation is imposed by UAVCAN-compatible bootloaders, which are
* unlikely to wait for more than that before continuing to boot. In case if this default value is not appropriate
* for the end application, the request interval can be overriden via @ref setRequestInterval().
*
* Following the above explained requirements, the default request interval is defined as follows:
* request interval [ms] = foor(5000 [ms] bootloader timeout / 123 nodes)
* Which yields 40 ms.
*
* Given default service timeout 500 ms and the defined above request frequency 40 ms, the maximum number of
* concurrent requests will be:
* max concurrent requests = ceil(500 [ms] timeout / 40 [ms] request interval)
* Which yields 13 requests.
*
* Keep the above equations in mind when changing the default request interval.
*
* Obviously, if all calls are completing in under (request interval), the number of concurrent requests will never
* exceed one. This is actually the most likely scenario.
*
* Note that all nodes are queried in a round-robin fashion, regardless of their uptime, number of requests made, etc.
*
* Events from this class can be routed to many listeners, @ref INodeInfoListener.
*/
class UAVCAN_EXPORT NodeInfoRetriever : NodeStatusMonitor
, TimerBase
@@ -135,8 +159,9 @@ private:
}
};
enum { NumStaticCalls = 4 };
enum { DefaultNumRequestAttempts = 30 };
enum { NumStaticCalls = 2 };
enum { DefaultNumRequestAttempts = 16 };
enum { DefaultTimerIntervalMSec = 40 }; ///< Read explanation in the class documentation
/*
* State
@@ -147,16 +172,15 @@ private:
ServiceClient<protocol::GetNodeInfo, GetNodeInfoResponseCallback, NumStaticCalls> get_node_info_client_;
MonotonicDuration request_interval_;
mutable uint8_t last_picked_node_;
uint8_t num_attempts_;
uint8_t max_concurrent_requests_;
/*
* Methods
*/
static MonotonicDuration getTimerPollInterval() { return MonotonicDuration::fromMSec(100); }
const Entry& getEntry(NodeID node_id) const { return const_cast<NodeInfoRetriever*>(this)->getEntry(node_id); }
Entry& getEntry(NodeID node_id)
{
@@ -171,9 +195,8 @@ private:
{
if (!TimerBase::isRunning())
{
TimerBase::startPeriodic(getTimerPollInterval());
UAVCAN_TRACE("NodeInfoRetriever", "Timer started, interval %ld ms",
static_cast<long>(getTimerPollInterval().toMSec()));
TimerBase::startPeriodic(request_interval_);
UAVCAN_TRACE("NodeInfoRetriever", "Timer started, interval %s sec", request_interval_.toString().c_str());
}
}
@@ -203,11 +226,6 @@ private:
virtual void handleTimerEvent(const TimerEvent&)
{
if (get_node_info_client_.getNumPendingCalls() >= max_concurrent_requests_)
{
return;
}
const NodeID next = pickNextNodeToQuery();
if (next.isUnicast())
{
@@ -319,9 +337,9 @@ public:
, TimerBase(node)
, listeners_(node.getAllocator())
, get_node_info_client_(node)
, request_interval_(MonotonicDuration::fromMSec(DefaultTimerIntervalMSec))
, last_picked_node_(1)
, num_attempts_(DefaultNumRequestAttempts)
, max_concurrent_requests_(NumStaticCalls * 2)
{ }
/**
@@ -381,6 +399,8 @@ public:
}
}
unsigned getNumListeners() const { return listeners_.getSize(); }
/**
* Number of attempts to retrieve GetNodeInfo response before giving up on the assumption that the service is
* not implemented.
@@ -393,13 +413,24 @@ public:
}
/**
* Number of concurrent requests limits the number of simultaneous service calls to different nodes.
* This value cannot be less than one.
* Request interval also implicitly defines the maximum number of concurrent requests.
* Read the class documentation for details.
*/
uint8_t getNumConcurrentRequests() const { return max_concurrent_requests_; }
void setNumConcurrentRequests(uint8_t num)
MonotonicDuration getRequestInterval() const { return request_interval_; }
void setRequestInterval(const MonotonicDuration interval)
{
max_concurrent_requests_ = max(static_cast<uint8_t>(1), num);
if (interval.isPositive())
{
request_interval_ = interval;
if (TimerBase::isRunning())
{
TimerBase::startPeriodic(request_interval_);
}
}
else
{
UAVCAN_ASSERT(0);
}
}
/**
libuavcan/test/protocol/node_info_retriever.cpp
+83 -11
View File
@@ -92,6 +92,9 @@ TEST(NodeInfoRetriever, Basic)
retr.removeListener(&listener); // Does nothing
retr.addListener(&listener);
retr.addListener(&listener);
retr.addListener(&listener);
ASSERT_EQ(1, retr.getNumListeners());
uavcan::protocol::HardwareVersion hwver;
hwver.unique_id[0] = 123;
@@ -106,6 +109,8 @@ TEST(NodeInfoRetriever, Basic)
ASSERT_FALSE(retr.isRetrievingInProgress());
ASSERT_EQ(0, retr.getNumPendingRequests());
EXPECT_EQ(40, retr.getRequestInterval().toMSec()); // Default
/*
* Waiting for discovery
*/
@@ -137,11 +142,11 @@ TEST(NodeInfoRetriever, Basic)
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 10, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 10, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(45));
ASSERT_EQ(1, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_EQ(2, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_EQ(3, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000));
ASSERT_TRUE(retr.isRetrievingInProgress());
@@ -151,11 +156,11 @@ TEST(NodeInfoRetriever, Basic)
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 11, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 11, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(45));
ASSERT_EQ(1, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_EQ(2, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_EQ(3, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000));
ASSERT_TRUE(retr.isRetrievingInProgress());
@@ -165,11 +170,11 @@ TEST(NodeInfoRetriever, Basic)
publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 12, tid);
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 10, tid); // Reset
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(45));
ASSERT_EQ(1, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_EQ(2, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_EQ(3, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1000));
ASSERT_TRUE(retr.isRetrievingInProgress());
@@ -181,9 +186,9 @@ TEST(NodeInfoRetriever, Basic)
tid.increment();
publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 11, tid);
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(45));
ASSERT_EQ(1, retr.getNumPendingRequests());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(110));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(40));
ASSERT_EQ(1, retr.getNumPendingRequests()); // Still one because two went offline
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1200));
ASSERT_TRUE(retr.isRetrievingInProgress());
@@ -199,3 +204,70 @@ TEST(NodeInfoRetriever, Basic)
EXPECT_EQ(7, listener.status_change_cnt); // node 2 online/offline + 2 test nodes above online/offline + 1
EXPECT_EQ(3, listener.info_unavailable_cnt);
}
TEST(NodeInfoRetriever, MaxConcurrentRequests)
{
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::NodeStatus> _reg1;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GetNodeInfo> _reg2;
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::GlobalDiscoveryRequest> _reg3;
InterlinkedTestNodesWithSysClock nodes;
uavcan::NodeInfoRetriever retr(nodes.a);
std::cout << "sizeof(uavcan::NodeInfoRetriever): " << sizeof(uavcan::NodeInfoRetriever) << std::endl;
std::cout << "sizeof(uavcan::ServiceClient<uavcan::protocol::GetNodeInfo>): "
<< sizeof(uavcan::ServiceClient<uavcan::protocol::GetNodeInfo>) << std::endl;
NodeInfoListener listener;
/*
* Initialization
*/
ASSERT_LE(0, retr.start());
retr.addListener(&listener);
ASSERT_EQ(1, retr.getNumListeners());
ASSERT_FALSE(retr.isRetrievingInProgress());
ASSERT_EQ(0, retr.getNumPendingRequests());
ASSERT_EQ(40, retr.getRequestInterval().toMSec());
const unsigned MaxPendingRequests = 13; // See class docs
const unsigned MinPendingRequestsAtFullLoad = 12;
/*
* Sending a lot of requests, making sure that the number of concurrent calls does not exceed the specified limit.
*/
for (uint8_t node_id = 1U; node_id <= 127U; node_id++)
{
publishNodeStatus(nodes.can_a, node_id, 0, 0, uavcan::TransferID());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_GE(MaxPendingRequests, retr.getNumPendingRequests());
ASSERT_TRUE(retr.isRetrievingInProgress());
}
ASSERT_GE(MaxPendingRequests, retr.getNumPendingRequests());
ASSERT_LE(MinPendingRequestsAtFullLoad, retr.getNumPendingRequests());
for (int i = 0; i < 8; i++) // Approximate
{
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(35));
std::cout << "!!! SPIN " << i << " COMPLETE" << std::endl;
ASSERT_GE(MaxPendingRequests, retr.getNumPendingRequests());
ASSERT_LE(MinPendingRequestsAtFullLoad, retr.getNumPendingRequests());
ASSERT_TRUE(retr.isRetrievingInProgress());
}
ASSERT_LT(0, retr.getNumPendingRequests());
ASSERT_TRUE(retr.isRetrievingInProgress());
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(5000));
ASSERT_EQ(0, retr.getNumPendingRequests());
ASSERT_FALSE(retr.isRetrievingInProgress());
}