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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/test/transport/transfer_receiver.cpp
+51 -69
View File
@@ -14,6 +14,7 @@
struct RxFrameGenerator
{
static const uavcan::TransferBufferManagerKey DEFAULT_KEY;
enum { TARGET_NODE_ID = 126 };
uint16_t data_type_id;
uavcan::TransferBufferManagerKey bufmgr_key;
@@ -27,28 +28,16 @@ struct RxFrameGenerator
uavcan::RxFrame operator()(int iface_index, const std::string& data, uint8_t frame_index, bool last,
uint8_t transfer_id, uint64_t ts_monotonic, uint64_t ts_utc = 0)
{
if (data.length() > uavcan::Frame::PAYLOAD_LEN_MAX)
{
std::cerr << "RxFrameGenerator(): Data is too long" << std::endl;
std::exit(1);
}
const uavcan::NodeID dst_nid =
(bufmgr_key.getTransferType() == uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST) ?
uavcan::NodeID::BROADCAST : TARGET_NODE_ID;
uavcan::RxFrame frm;
uavcan::Frame frame(data_type_id, bufmgr_key.getTransferType(), bufmgr_key.getNodeID(),
dst_nid, frame_index, transfer_id, last);
frm.iface_index = iface_index;
frm.ts_monotonic = ts_monotonic;
frm.ts_utc = ts_utc;
EXPECT_EQ(data.length(), frame.setPayload(reinterpret_cast<const uint8_t*>(data.c_str()), data.length()));
frm.data_type_id = data_type_id;
frm.frame_index = frame_index;
frm.last_frame = last;
std::copy(data.begin(), data.end(), frm.payload);
frm.payload_len = data.length();
frm.source_node_id = bufmgr_key.getNodeID();
frm.transfer_id = uavcan::TransferID(transfer_id);
frm.transfer_type = bufmgr_key.getTransferType();
return frm;
return uavcan::RxFrame(frame, ts_monotonic, ts_utc, iface_index);
}
};
@@ -171,37 +160,37 @@ TEST(TransferReceiver, Basic)
ASSERT_EQ(2500, rcv.getLastTransferTimestampMonotonic());
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 0, 3000), bk)); // Old TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 15,3100), bk)); // Old TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 1, 3100), bk)); // Old TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 3, 3200), bk)); // Old TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 0, 3300), bk)); // Old TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 15,3400), bk)); // Old TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 2, 3400), bk)); // Old TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 3, 3500), bk)); // Old TID, wrong iface
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", 0, true, 8, 3600), bk));
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", 0, true, 4, 3600), bk));
ASSERT_EQ(3600, rcv.getLastTransferTimestampMonotonic());
/*
* Timeouts
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 9, 100000), bk)); // Wrong iface - ignored
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 10, 600000), bk)); // Accepted due to iface timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 1, 100000), bk)); // Wrong iface - ignored
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 6, 600000), bk)); // Accepted due to iface timeout
ASSERT_EQ(600000, rcv.getLastTransferTimestampMonotonic());
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, true, 11, 600100), bk));// Ignored - old iface 0
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 11, 600100), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, true, 7, 600100), bk));// Ignored - old iface 0
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 7, 600100), bk));
ASSERT_EQ(600100, rcv.getLastTransferTimestampMonotonic());
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 11, 600100), bk));// Old TID
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 11, 100000000), bk));// Accepted - global timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 7, 600100), bk)); // Old TID
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 7, 100000000), bk));// Accepted - global timeout
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 12, 100000100), bk));
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 0, 100000100), bk));
ASSERT_EQ(100000100, rcv.getLastTransferTimestampMonotonic());
ASSERT_TRUE(rcv.isTimedOut(900000000));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "\x78\x56" "345678", 0, false, 11, 900000000), bk));// Global timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 11, 900000100), bk));// Wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 1, true, 11, 900000200), bk));// Wrong iface
CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", 1, true, 11, 900000200), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "\x78\x56" "345678", 0, false, 0, 900000000), bk));// Global timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 0, 900000100), bk));// Wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 1, true, 0, 900000200), bk));// Wrong iface
CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", 1, true, 0, 900000200), bk));
ASSERT_EQ(900000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_FALSE(rcv.isTimedOut(1000));
ASSERT_FALSE(rcv.isTimedOut(900000200));
@@ -232,11 +221,11 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
/*
* Simple transfer, maximum buffer length
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 10, 100000000), bk)); // 6
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 10, 100000100), bk)); // 14
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 10, 100000200), bk)); // 22
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 10, 100000300), bk)); // 30
CHECK_COMPLETE( rcv.addFrame(gen(1, "12", 4, true, 10, 100000400), bk)); // 32
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 1, 100000000), bk)); // 6
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 1, 100000100), bk)); // 14
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 1, 100000200), bk)); // 22
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 1, 100000300), bk)); // 30
CHECK_COMPLETE( rcv.addFrame(gen(1, "12", 4, true, 1, 100000400), bk)); // 32
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567812345678123456781234567812"));
@@ -245,11 +234,11 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
/*
* Transfer longer than available buffer space
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 11, 100001000), bk)); // 6
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 11, 100001100), bk)); // 14
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 11, 100001200), bk)); // 22
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 11, 100001200), bk)); // 30
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 4, true, 11, 100001300), bk)); // 38 // EOT, ignored - lost sync
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 2, 100001000), bk)); // 6
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 2, 100001100), bk)); // 14
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 2, 100001200), bk)); // 22
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 2, 100001200), bk)); // 30
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 4, true, 2, 100001300), bk)); // 38 // EOT, ignored - lost sync
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic()); // Timestamp will not be overriden
ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer should be removed
@@ -258,7 +247,7 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
TEST(TransferReceiver, UnterminatedTransfer)
{
Context<256> context;
Context<512> context;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@@ -285,12 +274,12 @@ TEST(TransferReceiver, OutOfOrderFrames)
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(&context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 10, 100000000), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 3, false, 10, 100000100), bk)); // Out of order
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 2, true, 10, 100000200), bk)); // Out of order
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 10, 100000300), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 4, true, 10, 100000200), bk)); // Out of order
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 10, 100000400), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 7, 100000000), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 3, false, 7, 100000100), bk)); // Out of order
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 2, true, 7, 100000200), bk)); // Out of order
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 7, 100000300), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 4, true, 7, 100000200), bk)); // Out of order
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 7, 100000400), bk));
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
@@ -347,8 +336,8 @@ TEST(TransferReceiver, Restart)
* Begins immediately after, gets an iface timeout but completes OK
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 0, 10000300), bk));// Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 0, 13000300), bk));// 3 sec later, iface timeout
CHECK_COMPLETE( rcv.addFrame(gen(1, "12345678", 2, true, 0, 13000400), bk));// OK nevertheless
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 0, 12000300), bk));// 2 sec later, iface timeout
CHECK_COMPLETE( rcv.addFrame(gen(1, "12345678", 2, true, 0, 12000400), bk));// OK nevertheless
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456781234567812345678"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
@@ -465,11 +454,11 @@ TEST(TransferReceiver, HeaderParsing)
const uint64_t ts_monotonic = i + 10;
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, tid.get(), ts_monotonic), bk2));
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", 1, true, tid.get(), ts_monotonic), bk2));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", 0, false, tid.get(), ts_monotonic), bk2));
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", 1, true, tid.get(), ts_monotonic), bk2));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "45678abcd"));
ASSERT_EQ(0x3332, rcv.getLastTransferCrc()); // Second and third bytes
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567abcd"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
tid.increment();
bk2.remove();
@@ -478,24 +467,21 @@ TEST(TransferReceiver, HeaderParsing)
/*
* SFT, message broadcasting
*/
static const std::string SFT_PAYLOAD = "12345678";
static const std::string SFT_PAYLOAD_BROADCAST = "12345678";
static const std::string SFT_PAYLOAD_UNICAST = "1234567";
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferBufferAccessor bk(&context.bufmgr, gen.bufmgr_key);
const uavcan::RxFrame frame = gen(0, SFT_PAYLOAD, 0, true, tid.get(), 1000);
const uavcan::RxFrame frame = gen(0, SFT_PAYLOAD_BROADCAST, 0, true, tid.get(), 1000);
CHECK_SINGLE_FRAME(rcv.addFrame(frame, bk));
ASSERT_EQ(0x0000, rcv.getLastTransferCrc()); // Default value - zero
uint8_t payload[uavcan::Frame::PAYLOAD_LEN_MAX];
unsigned int payload_len = 0xFFFF;
ASSERT_TRUE(uavcan::TransferReceiver::extractSingleFrameTransferPayload(frame, payload, payload_len));
// All bytes are payload, zero overhead
ASSERT_TRUE(std::equal(SFT_PAYLOAD.begin(), SFT_PAYLOAD.end(), payload));
ASSERT_TRUE(std::equal(SFT_PAYLOAD_BROADCAST.begin(), SFT_PAYLOAD_BROADCAST.end(), frame.getPayloadPtr()));
tid.increment();
}
@@ -509,17 +495,13 @@ TEST(TransferReceiver, HeaderParsing)
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), ADDRESSED_TRANSFER_TYPES[i]);
uavcan::TransferBufferAccessor bk(&context.bufmgr, gen.bufmgr_key);
const uavcan::RxFrame frame = gen(0, SFT_PAYLOAD, 0, true, tid.get(), i + 10000);
const uavcan::RxFrame frame = gen(0, SFT_PAYLOAD_UNICAST, 0, true, tid.get(), i + 10000);
CHECK_SINGLE_FRAME(rcv.addFrame(frame, bk));
ASSERT_EQ(0x0000, rcv.getLastTransferCrc()); // Default value - zero
uint8_t payload[uavcan::Frame::PAYLOAD_LEN_MAX];
unsigned int payload_len = 0xFFFF;
ASSERT_TRUE(uavcan::TransferReceiver::extractSingleFrameTransferPayload(frame, payload, payload_len));
// First byte must be ignored
ASSERT_TRUE(std::equal(SFT_PAYLOAD.begin() + 1, SFT_PAYLOAD.end(), payload));
ASSERT_TRUE(std::equal(SFT_PAYLOAD_UNICAST.begin(), SFT_PAYLOAD_UNICAST.end(), frame.getPayloadPtr()));
tid.increment();
}