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RX frames have two timestamps: monotonic - for protocol timings management; utc - for application-level timestamping

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This commit is contained in:
Pavel Kirienko
2014-02-11 14:32:45 +04:00
parent b8f6bf3ffa
commit 696451baca
10 changed files with 85 additions and 62 deletions
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libuavcan/src/transport/can_io.cpp
+1 -1
View File
@@ -347,7 +347,7 @@ int CanIOManager::receive(CanRxFrame& frame, uint64_t monotonic_deadline)
assert(0); // Nonexistent interface
continue;
}
const int res = iface->receive(frame, frame.timestamp);
const int res = iface->receive(frame, frame.ts_monotonic, frame.ts_utc);
if (res == 0)
{
assert(0); // select() reported that iface has pending RX frames, but receive() returned none
libuavcan/src/transport/transfer.cpp
+1 -1
View File
@@ -106,7 +106,7 @@ std::string Frame::toString() const
std::string RxFrame::toString() const
{
std::ostringstream os; // C++03 doesn't support long long, so we need ostream to print the timestamp
os << Frame::toString() << " ts=" << timestamp << " iface=" << int(iface_index);
os << Frame::toString() << " ts_m=" << ts_monotonic << " ts_utc=" << ts_utc << " iface=" << int(iface_index);
return os.str();
}
libuavcan/src/transport/transfer_receiver.cpp
+16 -13
View File
@@ -34,16 +34,16 @@ TransferReceiver::TidRelation TransferReceiver::getTidRelation(const RxFrame& fr
void TransferReceiver::updateTransferTimings()
{
assert(this_transfer_timestamp_ > 0);
assert(this_transfer_ts_monotonic_ > 0);
const uint64_t prev_prev_ts = prev_transfer_timestamp_;
prev_transfer_timestamp_ = this_transfer_timestamp_;
const uint64_t prev_prev_ts = prev_transfer_ts_monotonic_;
prev_transfer_ts_monotonic_ = this_transfer_ts_monotonic_;
if ((prev_prev_ts != 0) &&
(prev_transfer_timestamp_ != 0) &&
(prev_transfer_timestamp_ >= prev_prev_ts))
(prev_transfer_ts_monotonic_ != 0) &&
(prev_transfer_ts_monotonic_ >= prev_prev_ts))
{
uint64_t interval = prev_transfer_timestamp_ - prev_prev_ts;
uint64_t interval = prev_transfer_ts_monotonic_ - prev_prev_ts;
interval = std::max(std::min(interval, MAX_TRANSFER_INTERVAL), MIN_TRANSFER_INTERVAL);
transfer_interval_ = (transfer_interval_ * 7 + interval) / 8;
}
@@ -95,7 +95,10 @@ bool TransferReceiver::validate(const RxFrame& frame) const
TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame)
{
if (frame.frame_index == 0)
this_transfer_timestamp_ = frame.timestamp;
{
this_transfer_ts_monotonic_ = frame.ts_monotonic;
first_frame_ts_utc_ = frame.ts_utc;
}
if ((frame.frame_index == 0) && frame.last_frame) // Single-frame transfer
{
@@ -137,7 +140,7 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame)
bool TransferReceiver::isTimedOut(uint64_t timestamp) const
{
static const int INTERVAL_MULT = (1 << TransferID::BITLEN) / 2 - 1;
const uint64_t ts = this_transfer_timestamp_;
const uint64_t ts = this_transfer_ts_monotonic_;
if (timestamp <= ts)
return false;
return (timestamp - ts) > (transfer_interval_ * INTERVAL_MULT);
@@ -149,16 +152,16 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame)
assert(bufmgr_key_.getNodeID() == frame.source_node_id);
assert(bufmgr_key_.getTransferType() == frame.transfer_type);
if ((frame.timestamp == 0) ||
(frame.timestamp < prev_transfer_timestamp_) ||
(frame.timestamp < this_transfer_timestamp_))
if ((frame.ts_monotonic == 0) ||
(frame.ts_monotonic < prev_transfer_ts_monotonic_) ||
(frame.ts_monotonic < this_transfer_ts_monotonic_))
{
return RESULT_NOT_COMPLETE;
}
const bool not_initialized = !isInitialized();
const bool iface_timed_out = (frame.timestamp - this_transfer_timestamp_) > (transfer_interval_ * 2);
const bool receiver_timed_out = isTimedOut(frame.timestamp);
const bool iface_timed_out = (frame.ts_monotonic - this_transfer_ts_monotonic_) > (transfer_interval_ * 2);
const bool receiver_timed_out = isTimedOut(frame.ts_monotonic);
const bool same_iface = frame.iface_index == iface_index_;
const bool first_fame = frame.frame_index == 0;
const TidRelation tid_rel = getTidRelation(frame);