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Refactoring: Frame Index field size increased, Trnasfer ID field size reduced. NodeID class added, Frame class rewritten with stricter runtime checks. All tests were updated accordingly.

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This commit is contained in:
Pavel Kirienko
2014-02-17 12:35:12 +04:00
parent 20778f1acb
commit 697a55aebb
18 changed files with 544 additions and 489 deletions
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libuavcan/src/transport/transfer_receiver.cpp
+40 -92
View File
@@ -12,13 +12,15 @@
namespace uavcan
{
static const int CRC_LEN = 2;
const uint32_t TransferReceiver::DEFAULT_TRANSFER_INTERVAL;
const uint32_t TransferReceiver::MIN_TRANSFER_INTERVAL;
const uint32_t TransferReceiver::MAX_TRANSFER_INTERVAL;
TransferReceiver::TidRelation TransferReceiver::getTidRelation(const RxFrame& frame) const
{
const int distance = tid_.forwardDistance(frame.transfer_id);
const int distance = tid_.forwardDistance(frame.getTransferID());
if (distance == 0)
return TID_SAME;
if (distance < ((1 << TransferID::BITLEN) / 2))
@@ -52,36 +54,31 @@ void TransferReceiver::prepareForNextTransfer()
bool TransferReceiver::validate(const RxFrame& frame) const
{
if (iface_index_ != frame.iface_index)
if (iface_index_ != frame.getIfaceIndex())
return false;
if (frame.source_node_id == 0)
if (frame.isFirstFrame() && !frame.isLastFrame() && (frame.getPayloadLen() < CRC_LEN))
{
UAVCAN_TRACE("TransferReceiver", "Invalid frame NID, %s", frame.toString().c_str());
UAVCAN_TRACE("TransferReceiver", "CRC expected, %s", frame.toString().c_str());
return false;
}
if (frame.frame_index != next_frame_index_)
if ((frame.getFrameIndex() == Frame::FRAME_INDEX_MAX) && !frame.isLastFrame())
{
UAVCAN_TRACE("TransferReceiver", "Unexpected frame index, %s", frame.toString().c_str());
UAVCAN_TRACE("TransferReceiver", "Unterminated transfer, %s", frame.toString().c_str());
return false;
}
if (!frame.last_frame && frame.payload_len != Frame::PAYLOAD_LEN_MAX)
if (frame.getFrameIndex() != next_frame_index_)
{
UAVCAN_TRACE("TransferReceiver", "Unexpected payload len, %s", frame.toString().c_str());
return false;
}
if (!frame.last_frame && frame.frame_index == Frame::FRAME_INDEX_MAX)
{
UAVCAN_TRACE("TransferReceiver", "Expected end of transfer, %s", frame.toString().c_str());
UAVCAN_TRACE("TransferReceiver", "Unexpected frame index (not %i), %s",
int(next_frame_index_), frame.toString().c_str());
return false;
}
if (getTidRelation(frame) != TID_SAME)
{
UAVCAN_TRACE("TransferReceiver", "Unexpected TID, %s", frame.toString().c_str());
UAVCAN_TRACE("TransferReceiver", "Unexpected TID (current %i), %s", tid_.get(), frame.toString().c_str());
return false;
}
return true;
@@ -89,34 +86,18 @@ bool TransferReceiver::validate(const RxFrame& frame) const
bool TransferReceiver::writePayload(const RxFrame& frame, TransferBufferBase& buf)
{
if (frame.frame_index == 0)
const uint8_t* const payload = frame.getPayloadPtr();
const int payload_len = frame.getPayloadLen();
if (frame.isFirstFrame()) // First frame contains CRC, we need to extract it now
{
unsigned int payload_offset = 0;
unsigned int crc_offset = 0;
if (frame.getPayloadLen() < CRC_LEN) // Must have been validated earlier though. I think I'm paranoid.
return false;
switch (frame.transfer_type)
{
case TRANSFER_TYPE_MESSAGE_BROADCAST:
payload_offset = 2;
crc_offset = 0;
break;
case TRANSFER_TYPE_SERVICE_RESPONSE: // Addressed transfers have 1-byte overhead for Destination Node ID
case TRANSFER_TYPE_SERVICE_REQUEST:
case TRANSFER_TYPE_MESSAGE_UNICAST:
payload_offset = 3;
crc_offset = 1;
break;
default:
UAVCAN_TRACE("TransferReceiver", "Invalid transfer type, %s", frame.toString().c_str());
return RESULT_NOT_COMPLETE;
}
this_transfer_crc_ = (payload[0] & 0xFF) | (uint16_t(payload[1] & 0xFF) << 8); // Little endian.
this_transfer_crc_ =
(frame.payload[crc_offset] & 0xFF) |
(uint16_t(frame.payload[crc_offset + 1] & 0xFF) << 8); // little endian
const int effective_payload_len = frame.payload_len - payload_offset;
const int res = buf.write(buffer_write_pos_, frame.payload + payload_offset, effective_payload_len);
const int effective_payload_len = payload_len - CRC_LEN;
const int res = buf.write(buffer_write_pos_, payload + CRC_LEN, effective_payload_len);
const bool success = res == effective_payload_len;
if (success)
buffer_write_pos_ += effective_payload_len;
@@ -124,10 +105,10 @@ bool TransferReceiver::writePayload(const RxFrame& frame, TransferBufferBase& bu
}
else
{
const int res = buf.write(buffer_write_pos_, frame.payload, frame.payload_len);
const bool success = res == frame.payload_len;
const int res = buf.write(buffer_write_pos_, payload, payload_len);
const bool success = res == payload_len;
if (success)
buffer_write_pos_ += frame.payload_len;
buffer_write_pos_ += payload_len;
return success;
}
}
@@ -135,14 +116,13 @@ bool TransferReceiver::writePayload(const RxFrame& frame, TransferBufferBase& bu
TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame, TransferBufferAccessor& tba)
{
// Transfer timestamps are derived from the first frame
if (frame.frame_index == 0)
if (frame.isFirstFrame())
{
this_transfer_ts_monotonic_ = frame.ts_monotonic;
first_frame_ts_utc_ = frame.ts_utc;
this_transfer_ts_monotonic_ = frame.getMonotonicTimestamp();
first_frame_ts_utc_ = frame.getUtcTimestamp();
}
// Single-frame transfer
if ((frame.frame_index == 0) && frame.last_frame)
if (frame.isFirstFrame() && frame.isLastFrame())
{
tba.remove();
updateTransferTimings();
@@ -170,7 +150,7 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame, Tra
}
next_frame_index_++;
if (frame.last_frame)
if (frame.isLastFrame())
{
updateTransferTimings();
prepareForNextTransfer();
@@ -181,7 +161,7 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame, Tra
bool TransferReceiver::isTimedOut(uint64_t ts_monotonic) const
{
static const uint64_t INTERVAL_MULT = (1 << TransferID::BITLEN) / 2 - 1;
static const uint64_t INTERVAL_MULT = (1 << TransferID::BITLEN) / 2 + 1;
const uint64_t ts = this_transfer_ts_monotonic_;
if (ts_monotonic <= ts)
return false;
@@ -190,19 +170,20 @@ bool TransferReceiver::isTimedOut(uint64_t ts_monotonic) const
TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, TransferBufferAccessor& tba)
{
if ((frame.ts_monotonic == 0) ||
(frame.ts_monotonic < prev_transfer_ts_monotonic_) ||
(frame.ts_monotonic < this_transfer_ts_monotonic_))
if ((frame.getMonotonicTimestamp() == 0) ||
(frame.getMonotonicTimestamp() < prev_transfer_ts_monotonic_) ||
(frame.getMonotonicTimestamp() < this_transfer_ts_monotonic_))
{
return RESULT_NOT_COMPLETE;
}
const bool not_initialized = !isInitialized();
const bool iface_timed_out = (frame.ts_monotonic - this_transfer_ts_monotonic_) > (uint64_t(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 bool receiver_timed_out = isTimedOut(frame.getMonotonicTimestamp());
const bool same_iface = frame.getIfaceIndex() == iface_index_;
const bool first_fame = frame.isFirstFrame();
const TidRelation tid_rel = getTidRelation(frame);
const bool iface_timed_out =
(frame.getMonotonicTimestamp() - this_transfer_ts_monotonic_) > (uint64_t(transfer_interval_) * 2);
const bool need_restart = // FSM, the hard way
(not_initialized) ||
@@ -217,8 +198,8 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, Tr
int(not_initialized), int(iface_timed_out), int(receiver_timed_out), int(same_iface), int(first_fame),
int(tid_rel), frame.toString().c_str());
tba.remove();
iface_index_ = frame.iface_index;
tid_ = frame.transfer_id;
iface_index_ = frame.getIfaceIndex();
tid_ = frame.getTransferID();
next_frame_index_ = 0;
buffer_write_pos_ = 0;
this_transfer_crc_ = 0;
@@ -235,37 +216,4 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, Tr
return receive(frame, tba);
}
bool TransferReceiver::extractSingleFrameTransferPayload(const RxFrame& frame, uint8_t* out_data,
unsigned int& out_len)
{
if (out_data == NULL)
{
assert(0);
return false;
}
out_len = 0;
unsigned int offset = 0;
switch (frame.transfer_type)
{
case TRANSFER_TYPE_MESSAGE_BROADCAST:
offset = 0;
break;
case TRANSFER_TYPE_SERVICE_RESPONSE: // Addressed transfers have 1-byte overhead for Destination Node ID
case TRANSFER_TYPE_SERVICE_REQUEST:
case TRANSFER_TYPE_MESSAGE_UNICAST:
offset = 1;
break;
default:
return false;
}
if (frame.payload_len < offset)
return false;
out_len = frame.payload_len - offset;
std::copy(frame.payload + offset, frame.payload + offset + out_len, out_data);
return true;
}
}