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Proper allocation logic with basic test

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This commit is contained in:
Pavel Kirienko
2015-05-08 23:12:57 +03:00
parent aca9fcb12c
commit 69c361e259
3 changed files with 203 additions and 7 deletions
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libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp
+18 -4
View File
@@ -460,6 +460,11 @@ public:
*/
virtual void onEntryCommitted(const Entry& entry) = 0;
/**
* Assume false by default.
*/
virtual void onLeaderChange(bool local_node_is_leader) = 0;
virtual ~ILeaderLogCommitHandler() { }
};
@@ -655,7 +660,7 @@ public:
inline LazyConstructor<LogEntryInfo> traverseLogFromEndUntil(const Predicate& predicate) const
{
UAVCAN_ASSERT(try_implicit_cast<bool>(predicate, true));
for (int index = static_cast<int>(persistent_state_.getLog().getLastIndex()); index--; index >= 0)
for (int index = static_cast<int>(persistent_state_.getLog().getLastIndex()); index >= 0; index--)
{
const Entry* const entry = persistent_state_.getLog().getEntryAtIndex(Log::Index(index));
UAVCAN_ASSERT(entry != NULL);
@@ -737,8 +742,8 @@ public:
/**
* This class implements the top-level allocation logic and server API.
*/
class DynamicNodeIDAllocationServer : public dynamic_node_id_server_impl::IAllocationRequestHandler
, public dynamic_node_id_server_impl::ILeaderLogCommitHandler
class DynamicNodeIDAllocationServer : private dynamic_node_id_server_impl::IAllocationRequestHandler
, private dynamic_node_id_server_impl::ILeaderLogCommitHandler
{
typedef MethodBinder<DynamicNodeIDAllocationServer*,
void (DynamicNodeIDAllocationServer::*)
@@ -767,10 +772,19 @@ class DynamicNodeIDAllocationServer : public dynamic_node_id_server_impl::IAlloc
INode& getNode() { return get_node_info_client_.getNode(); }
virtual void handleAllocationRequest(const UniqueID& unique_id, NodeID preferred_node_id);
bool isNodeIDTaken(const NodeID node_id) const;
NodeID findFreeNodeID(const NodeID node_id) const;
void allocateNewNode(const UniqueID& unique_id, const NodeID preferred_node_id);
virtual void handleAllocationRequest(const UniqueID& unique_id, const NodeID preferred_node_id);
virtual void onEntryCommitted(const protocol::dynamic_node_id::server::Entry& entry);
virtual void onLeaderChange(bool local_node_is_leader);
void tryPublishAllocationResult(const protocol::dynamic_node_id::server::Entry& entry);
public:
DynamicNodeIDAllocationServer(INode& node,
IDynamicNodeIDStorageBackend& storage,
libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
+133 -3
View File
@@ -1003,6 +1003,11 @@ void RaftCore::updateCandidate()
void RaftCore::updateLeader()
{
if (cluster_.getClusterSize() == 1)
{
setActiveMode(false); // Haha
}
if (active_mode_ || (next_server_index_ > 0))
{
const NodeID node_id = cluster_.getRemoteServerNodeIDAtIndex(next_server_index_);
@@ -1062,6 +1067,12 @@ void RaftCore::switchState(const ServerState new_state)
int(server_state_), int(new_state));
trace(TraceRaftStateSwitch, new_state);
if ((ServerStateLeader == server_state_) ||
(ServerStateLeader == new_state))
{
log_commit_handler_.onLeaderChange(ServerStateLeader == new_state);
}
server_state_ = new_state;
cluster_.resetAllServerIndices();
@@ -1721,18 +1732,137 @@ int AllocationRequestManager::broadcastAllocationResponse(const IAllocationReque
return allocation_pub_.broadcast(msg);
}
/*
* There's no reason to remove these types from the class scope, except that otherwise the half-broken Eclipse CDT
* indexer goes bananas.
*/
struct UniqueIDLogPredicate
{
const IAllocationRequestHandler::UniqueID unique_id;
UniqueIDLogPredicate(const IAllocationRequestHandler::UniqueID& uid)
: unique_id(uid)
{ }
bool operator()(const RaftCore::LogEntryInfo& info) const
{
return info.entry.unique_id == unique_id;
}
};
struct NodeIDLogPredicate
{
const NodeID node_id;
NodeIDLogPredicate(const NodeID& nid)
: node_id(nid)
{ }
bool operator()(const RaftCore::LogEntryInfo& info) const
{
return info.entry.node_id == node_id.get();
}
};
} // dynamic_node_id_server_impl
/*
* DynamicNodeIDAllocationServer
*/
void DynamicNodeIDAllocationServer::handleAllocationRequest(const UniqueID& unique_id, NodeID preferred_node_id)
bool DynamicNodeIDAllocationServer::isNodeIDTaken(const NodeID node_id) const
{
// TODO implement proper allocation logic
(void)raft_core_.appendLog(unique_id, preferred_node_id);
UAVCAN_TRACE("DynamicNodeIDAllocationServer", "Testing if node ID %d is taken", int(node_id.get()));
return raft_core_.traverseLogFromEndUntil(dynamic_node_id_server_impl::NodeIDLogPredicate(node_id));
}
NodeID DynamicNodeIDAllocationServer::findFreeNodeID(const NodeID preferred_node_id) const
{
uint8_t candidate = preferred_node_id.isUnicast() ? preferred_node_id.get() : NodeID::Max;
// Up
while (candidate <= NodeID::Max)
{
if (!isNodeIDTaken(candidate))
{
return candidate;
}
candidate++;
}
candidate = preferred_node_id.isUnicast() ? preferred_node_id.get() : NodeID::Max;
candidate--; // This has been tested already
// Down
while (candidate > 0)
{
if (!isNodeIDTaken(candidate))
{
return candidate;
}
candidate--;
}
return NodeID();
}
void DynamicNodeIDAllocationServer::allocateNewNode(const UniqueID& unique_id, const NodeID preferred_node_id)
{
const NodeID allocated_node_id = findFreeNodeID(preferred_node_id);
if (!allocated_node_id.isUnicast())
{
UAVCAN_TRACE("DynamicNodeIDAllocationServer", "Request ignored - no free node ID left");
return;
}
UAVCAN_TRACE("DynamicNodeIDAllocationServer", "New node ID allocated: %d", int(allocated_node_id.get()));
const int res = raft_core_.appendLog(unique_id, allocated_node_id);
if (res < 0)
{
getNode().registerInternalFailure("Raft log append");
}
}
void DynamicNodeIDAllocationServer::handleAllocationRequest(const UniqueID& unique_id, const NodeID preferred_node_id)
{
// TODO: allocation requests must not be served if the list of unidentified nodes is not empty
const LazyConstructor<dynamic_node_id_server_impl::RaftCore::LogEntryInfo> result =
raft_core_.traverseLogFromEndUntil(dynamic_node_id_server_impl::UniqueIDLogPredicate(unique_id));
if (result.isConstructed())
{
if (result->committed)
{
tryPublishAllocationResult(result->entry);
UAVCAN_TRACE("DynamicNodeIDAllocationServer",
"Allocation request served with existing allocation; node ID %d",
int(result->entry.node_id));
}
else
{
UAVCAN_TRACE("DynamicNodeIDAllocationServer",
"Allocation request ignored - allocation exists but not committed yet; node ID %d",
int(result->entry.node_id));
}
}
else
{
allocateNewNode(unique_id, preferred_node_id);
}
}
void DynamicNodeIDAllocationServer::onEntryCommitted(const protocol::dynamic_node_id::server::Entry& entry)
{
tryPublishAllocationResult(entry);
}
void DynamicNodeIDAllocationServer::onLeaderChange(bool local_node_is_leader)
{
UAVCAN_TRACE("DynamicNodeIDAllocationServer", "I am leader: %d", int(local_node_is_leader));
allocation_request_manager_.setActive(local_node_is_leader);
}
void DynamicNodeIDAllocationServer::tryPublishAllocationResult(const protocol::dynamic_node_id::server::Entry& entry)
{
const int res = allocation_request_manager_.broadcastAllocationResponse(entry.unique_id, entry.node_id);
if (res < 0)
libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
+52
View File
@@ -85,6 +85,11 @@ class CommitHandler : public uavcan::dynamic_node_id_server_impl::ILeaderLogComm
std::cout << "ENTRY COMMITTED [" << id_ << "]\n" << entry << std::endl;
}
virtual void onLeaderChange(bool local_node_is_leader)
{
std::cout << "I AM LEADER: " << (local_node_is_leader ? "YES" : "NOT ANYMORE") << std::endl;
}
public:
CommitHandler(const std::string& id) : id_(id) { }
};
@@ -1040,6 +1045,53 @@ TEST(DynamicNodeIDAllocationServer, AllocationRequestManager)
}
TEST(DynamicNodeIDAllocationServer, Main)
{
using namespace uavcan::dynamic_node_id_server_impl;
using namespace uavcan::protocol::dynamic_node_id;
using namespace uavcan::protocol::dynamic_node_id::server;
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<Discovery> _reg1;
uavcan::DefaultDataTypeRegistrator<AppendEntries> _reg2;
uavcan::DefaultDataTypeRegistrator<RequestVote> _reg3;
uavcan::DefaultDataTypeRegistrator<Allocation> _reg4;
EventTracer tracer;
StorageBackend storage;
// Node A is Allocator, Node B is Allocatee
InterlinkedTestNodesWithSysClock nodes(uavcan::NodeID(10), uavcan::NodeID::Broadcast);
/*
* Server
*/
uavcan::DynamicNodeIDAllocationServer server(nodes.a, storage, tracer);
ASSERT_LE(0, server.init(1));
/*
* Client
*/
uavcan::DynamicNodeIDAllocationClient client(nodes.b);
uavcan::protocol::HardwareVersion hwver;
for (uavcan::uint8_t i = 0; i < hwver.unique_id.size(); i++)
{
hwver.unique_id[i] = i;
}
const uavcan::NodeID PreferredNodeID = 42;
ASSERT_LE(0, client.start(hwver, PreferredNodeID));
/*
* Fire
*/
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(4000));
ASSERT_TRUE(client.isAllocationComplete());
ASSERT_EQ(PreferredNodeID, client.getAllocatedNodeID());
}
TEST(DynamicNodeIDAllocationServer, ObjectSizes)
{
std::cout << "Log: "