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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/test/transport/can/io.cpp
+8 -6
View File
@@ -69,7 +69,7 @@ public:
return 1;
}
int receive(uavcan::CanFrame& out_frame, uint64_t& out_utc_timestamp_usec)
int receive(uavcan::CanFrame& out_frame, uint64_t& out_ts_monotonic_usec, uint64_t& out_ts_utc_usec)
{
assert(this);
EXPECT_TRUE(rx.size()); // Shall never be called when not readable
@@ -80,7 +80,8 @@ public:
const FrameWithTime frame = rx.front();
rx.pop();
out_frame = frame.frame;
out_utc_timestamp_usec = frame.time;
out_ts_monotonic_usec = frame.time;
out_ts_utc_usec = 0;
return 1;
}
@@ -178,10 +179,11 @@ TEST(CanIOManager, CanDriverMock)
EXPECT_EQ(0, mask_wr);
EXPECT_EQ(2, mask_rd);
CanFrame fr2;
uint64_t timestamp;
EXPECT_EQ(1, driver.getIface(1)->receive(fr2, timestamp));
uint64_t ts_monotonic, ts_utc;
EXPECT_EQ(1, driver.getIface(1)->receive(fr2, ts_monotonic, ts_utc));
EXPECT_EQ(fr1, fr2);
EXPECT_EQ(100, timestamp);
EXPECT_EQ(100, ts_monotonic);
EXPECT_EQ(0, ts_utc);
// #0 WR, #1 RD, Select failure
driver.ifaces.at(0).writeable = true;
@@ -203,7 +205,7 @@ static bool rxFrameEquals(const uavcan::CanRxFrame& rxframe, const uavcan::CanFr
<< " " << frame.toString(uavcan::CanFrame::STR_ALIGNED) << std::endl;
}
return (static_cast<const uavcan::CanFrame&>(rxframe) == frame) &&
(rxframe.timestamp == timestamp) && (rxframe.iface_index == iface_index);
(rxframe.ts_monotonic == timestamp) && (rxframe.iface_index == iface_index);
}
TEST(CanIOManager, Reception)
libuavcan/test/transport/transfer.cpp
+7 -6
View File
@@ -147,11 +147,11 @@ TEST(Transfer, RxFrameParse)
// Default
can_rx_frame.id = CanFrame::FLAG_EFF;
ASSERT_TRUE(rx_frame.parse(can_rx_frame));
ASSERT_EQ(0, rx_frame.timestamp);
ASSERT_EQ(0, rx_frame.ts_monotonic);
ASSERT_EQ(0, rx_frame.iface_index);
// Custom
can_rx_frame.timestamp = 123;
can_rx_frame.ts_monotonic = 123;
can_rx_frame.iface_index = 2;
Frame frame;
@@ -160,7 +160,7 @@ TEST(Transfer, RxFrameParse)
*static_cast<CanFrame*>(&can_rx_frame) = frame.compile();
ASSERT_TRUE(rx_frame.parse(can_rx_frame));
ASSERT_EQ(123, rx_frame.timestamp);
ASSERT_EQ(123, rx_frame.ts_monotonic);
ASSERT_EQ(2, rx_frame.iface_index);
ASSERT_EQ(456, rx_frame.data_type_id);
ASSERT_EQ(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, rx_frame.transfer_type);
@@ -174,7 +174,7 @@ TEST(Transfer, FrameToString)
// RX frame default
RxFrame rx_frame;
EXPECT_EQ("dtid=0 tt=0 snid=0 idx=0 last=0 tid=0 payload=[] ts=0 iface=0", rx_frame.toString());
EXPECT_EQ("dtid=0 tt=0 snid=0 idx=0 last=0 tid=0 payload=[] ts_m=0 ts_utc=0 iface=0", rx_frame.toString());
// RX frame max len
rx_frame.data_type_id = Frame::DATA_TYPE_ID_MAX;
@@ -186,11 +186,12 @@ TEST(Transfer, FrameToString)
rx_frame.payload_len = Frame::PAYLOAD_LEN_MAX;
for (int i = 0; i < rx_frame.payload_len; i++)
rx_frame.payload[i] = i;
rx_frame.timestamp = 0xFFFFFFFFFFFFFFFF;
rx_frame.ts_monotonic = 0xFFFFFFFFFFFFFFFF;
rx_frame.ts_utc = 0xFFFFFFFFFFFFFFFF;
rx_frame.iface_index = 3;
EXPECT_EQ(
"dtid=1023 tt=3 snid=127 idx=31 last=1 tid=15 payload=[00 01 02 03 04 05 06 07] ts=18446744073709551615 iface=3",
"dtid=1023 tt=3 snid=127 idx=31 last=1 tid=15 payload=[00 01 02 03 04 05 06 07] ts_m=18446744073709551615 ts_utc=18446744073709551615 iface=3",
rx_frame.toString());
// Plain frame default
libuavcan/test/transport/transfer_receiver.cpp
+18 -18
View File
@@ -34,7 +34,7 @@ struct RxFrameGenerator
uavcan::RxFrame frm;
frm.iface_index = iface_index;
frm.timestamp = timestamp;
frm.ts_monotonic = timestamp;
frm.data_type_id = data_type_id;
frm.frame_index = frame_index;
@@ -110,14 +110,14 @@ TEST(TransferReceiver, Basic)
* Empty
*/
ASSERT_EQ(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_EQ(0, rcv.getLastTransferTimestamp());
ASSERT_EQ(0, rcv.getLastTransferTimestampMonotonic());
/*
* Single frame transfer with zero ts, must be ignored
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "Foo", 0, true, 0, 0)));
ASSERT_EQ(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_EQ(0, rcv.getLastTransferTimestamp());
ASSERT_EQ(0, rcv.getLastTransferTimestampMonotonic());
/*
* Valid compound transfer
@@ -128,7 +128,7 @@ TEST(TransferReceiver, Basic)
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678foo"));
ASSERT_EQ(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval()); // Not initialized yet
ASSERT_EQ(100, rcv.getLastTransferTimestamp());
ASSERT_EQ(100, rcv.getLastTransferTimestampMonotonic());
/*
* Compound transfer mixed with invalid frames; buffer was not released explicitly
@@ -146,7 +146,7 @@ TEST(TransferReceiver, Basic)
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678abcdefgh"));
ASSERT_GT(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_LT(TransferReceiver::MIN_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_EQ(1000, rcv.getLastTransferTimestamp());
ASSERT_EQ(1000, rcv.getLastTransferTimestampMonotonic());
ASSERT_FALSE(rcv.isTimedOut(1000));
ASSERT_FALSE(rcv.isTimedOut(5000));
ASSERT_TRUE(rcv.isTimedOut(60000000));
@@ -160,10 +160,10 @@ TEST(TransferReceiver, Basic)
ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer must be removed
ASSERT_GT(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_EQ(2200, rcv.getLastTransferTimestamp());
ASSERT_EQ(2200, rcv.getLastTransferTimestampMonotonic());
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", 0, true, 3, 2500)));
ASSERT_EQ(2500, rcv.getLastTransferTimestamp());
ASSERT_EQ(2500, rcv.getLastTransferTimestampMonotonic());
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 0, 3000))); // Old TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 15,3100))); // Old TID
@@ -172,32 +172,32 @@ TEST(TransferReceiver, Basic)
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 15,3400))); // Old TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 3, 3500))); // Old TID, wrong iface
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", 0, true, 8, 3600)));
ASSERT_EQ(3600, rcv.getLastTransferTimestamp());
ASSERT_EQ(3600, rcv.getLastTransferTimestampMonotonic());
/*
* Timeouts
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 9, 100000))); // Wrong iface - ignored
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 10, 600000))); // Accepted due to iface timeout
ASSERT_EQ(600000, rcv.getLastTransferTimestamp());
ASSERT_EQ(600000, rcv.getLastTransferTimestampMonotonic());
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, true, 11, 600100)));// Ignored - old iface 0
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 11, 600100)));
ASSERT_EQ(600100, rcv.getLastTransferTimestamp());
ASSERT_EQ(600100, rcv.getLastTransferTimestampMonotonic());
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 11, 600100)));// Old TID
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 11, 100000000)));// Accepted - global timeout
ASSERT_EQ(100000000, rcv.getLastTransferTimestamp());
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 12, 100000100)));
ASSERT_EQ(100000100, rcv.getLastTransferTimestamp());
ASSERT_EQ(100000100, rcv.getLastTransferTimestampMonotonic());
ASSERT_TRUE(rcv.isTimedOut(900000000));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 11, 900000000)));// Global timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 11, 900000100)));// Wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 1, true, 11, 900000200)));// Wrong iface
CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", 1, true, 11, 900000200)));
ASSERT_EQ(900000000, rcv.getLastTransferTimestamp());
ASSERT_EQ(900000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_FALSE(rcv.isTimedOut(1000));
ASSERT_FALSE(rcv.isTimedOut(900000200));
ASSERT_TRUE(rcv.isTimedOut(1000 * 1000000));
@@ -231,7 +231,7 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 10, 100000300))); // 32
CHECK_COMPLETE( rcv.addFrame(gen(1, "", 4, true, 10, 100000400))); // 32
ASSERT_EQ(100000000, rcv.getLastTransferTimestamp());
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678123456781234567812345678"));
/*
@@ -243,7 +243,7 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 11, 100001200))); // 32
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 4, true, 11, 100001300))); // 40 // EOT, ignored - lost sync
ASSERT_EQ(100000000, rcv.getLastTransferTimestamp());
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer should be removed
}
@@ -262,7 +262,7 @@ TEST(TransferReceiver, UnterminatedTransfer)
content += "12345678";
}
CHECK_COMPLETE(rcv.addFrame(gen(1, "12345678", uavcan::Frame::FRAME_INDEX_MAX, true, 0, 1100)));
ASSERT_EQ(1000, rcv.getLastTransferTimestamp());
ASSERT_EQ(1000, rcv.getLastTransferTimestampMonotonic());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), content));
}
@@ -281,7 +281,7 @@ TEST(TransferReceiver, OutOfOrderFrames)
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 4, true, 10, 100000200))); // Out of order
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 10, 100000400)));
ASSERT_EQ(100000000, rcv.getLastTransferTimestamp());
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
}
@@ -304,7 +304,7 @@ TEST(TransferReceiver, IntervalMeasurement)
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, tid.get(), timestamp)));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
ASSERT_EQ(timestamp, rcv.getLastTransferTimestamp());
ASSERT_EQ(timestamp, rcv.getLastTransferTimestampMonotonic());
timestamp += INTERVAL;
tid.increment();