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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
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@@ -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)