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All unit tests compile, but crash. This is the most horrifying commit I've ever made.

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This commit is contained in:
Pavel Kirienko
2015-07-01 14:55:24 +03:00
parent feb7600f17
commit 8a2e22046e
42 changed files with 421 additions and 587 deletions
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libuavcan/include/uavcan/data_type.hpp
+1 -3
View File
@@ -56,9 +56,7 @@ public:
DataTypeID(uint16_t id) // Implicit
: value_(id)
{
UAVCAN_ASSERT(id <= MaxPossibleDataTypeIDValue);
}
{ }
static DataTypeID getMaxValueForDataTypeKind(const DataTypeKind dtkind);
libuavcan/include/uavcan/protocol/data_type_info_provider.hpp
+3 -1
View File
@@ -41,7 +41,7 @@ class UAVCAN_EXPORT DataTypeInfoProvider : Noncopyable
}
void handleComputeAggregateTypeSignatureRequest(const protocol::ComputeAggregateTypeSignature::Request& request,
protocol::ComputeAggregateTypeSignature::Response& response)
protocol::ComputeAggregateTypeSignature::Response&)
{
const DataTypeKind kind = DataTypeKind(request.kind.value); // No mapping needed
if (!isValidDataTypeKind(kind))
@@ -51,6 +51,7 @@ class UAVCAN_EXPORT DataTypeInfoProvider : Noncopyable
return;
}
#if 0 /* TODO FIXME */
UAVCAN_TRACE("DataTypeInfoProvider", "ComputeAggregateTypeSignature request for dtk=%d, len(known_ids)=%d",
int(request.kind.value), int(request.known_ids.size()));
@@ -61,6 +62,7 @@ class UAVCAN_EXPORT DataTypeInfoProvider : Noncopyable
response.aggregate_signature =
GlobalDataTypeRegistry::instance().computeAggregateSignature(kind, response.mutually_known_ids).get();
#endif
}
void handleGetDataTypeInfoRequest(const protocol::GetDataTypeInfo::Request& request,
libuavcan/include/uavcan/protocol/dynamic_node_id_client.hpp
+1 -1
View File
@@ -65,7 +65,7 @@ public:
*/
int start(const protocol::HardwareVersion& hardware_version,
const NodeID preferred_node_id = NodeID::Broadcast,
const TransferPriority transfer_priority = TransferPriorityNormal);
const TransferPriority transfer_priority = TransferPriority::OneHigherThanLowest);
/**
* Use this method to determine when allocation is complete.
libuavcan/include/uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp
+3 -3
View File
@@ -237,15 +237,15 @@ public:
, allocation_pub_(node)
{ }
int init()
int init(const TransferPriority priority)
{
int res = allocation_pub_.init();
if (res < 0)
{
return res;
}
(void)allocation_pub_.setPriority(TransferPriorityLow);
allocation_pub_.setTxTimeout(MonotonicDuration::fromMSec(Allocation::DEFAULT_REQUEST_PERIOD_MS));
allocation_pub_.setPriority(priority);
allocation_pub_.setTxTimeout(MonotonicDuration::fromMSec(1000 /* TODO FIXME ALLOCATION RANDOMIZATION */));
res = allocation_sub_.start(AllocationCallback(this, &AllocationRequestManager::handleAllocation));
if (res < 0)
libuavcan/include/uavcan/protocol/dynamic_node_id_server/centralized/server.hpp
+4 -3
View File
@@ -135,7 +135,8 @@ public:
, storage_(storage)
{ }
int init(const UniqueID& own_unique_id)
int init(const UniqueID& own_unique_id,
const TransferPriority priority = TransferPriority::OneHigherThanLowest)
{
/*
* Initializing storage first, because the next step requires it to be loaded
@@ -173,13 +174,13 @@ public:
/*
* Misc
*/
res = allocation_request_manager_.init();
res = allocation_request_manager_.init(priority);
if (res < 0)
{
return res;
}
res = node_discoverer_.init();
res = node_discoverer_.init(priority);
if (res < 0)
{
return res;
libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp
+2 -2
View File
@@ -207,7 +207,7 @@ public:
* storage backend using key 'cluster_size'.
* Returns negative error code.
*/
int init(uint8_t init_cluster_size = ClusterSizeUnknown)
int init(const uint8_t init_cluster_size, const TransferPriority priority)
{
/*
* Figuring out the cluster size
@@ -263,7 +263,7 @@ public:
{
return res;
}
(void)discovery_pub_.setPriority(TransferPriorityLow);
discovery_pub_.setPriority(priority);
res = discovery_sub_.start(DiscoveryCallback(this, &ClusterManager::handleDiscovery));
if (res < 0)
libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp
+2 -2
View File
@@ -727,7 +727,7 @@ public:
* value from the persistent storage will be used. If not set and there's no such key
* in the persistent storage, initialization will fail.
*/
int init(uint8_t cluster_size = ClusterManager::ClusterSizeUnknown)
int init(const uint8_t cluster_size, const TransferPriority priority)
{
/*
* Initializing state variables
@@ -748,7 +748,7 @@ public:
return res;
}
res = cluster_.init(cluster_size);
res = cluster_.init(cluster_size, priority);
if (res < 0)
{
return res;
libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/server.hpp
+6 -4
View File
@@ -246,12 +246,14 @@ public:
, node_discoverer_(node, tracer, *this)
{ }
int init(const UniqueID& own_unique_id, const uint8_t cluster_size = ClusterManager::ClusterSizeUnknown)
int init(const UniqueID& own_unique_id,
const uint8_t cluster_size = ClusterManager::ClusterSizeUnknown,
const TransferPriority priority = TransferPriority::OneHigherThanLowest)
{
/*
* Initializing Raft core first, because the next step requires Log to be loaded
*/
int res = raft_core_.init(cluster_size);
int res = raft_core_.init(cluster_size, priority);
if (res < 0)
{
return res;
@@ -276,13 +278,13 @@ public:
/*
* Misc
*/
res = allocation_request_manager_.init();
res = allocation_request_manager_.init(priority);
if (res < 0)
{
return res;
}
res = node_discoverer_.init();
res = node_discoverer_.init(priority);
if (res < 0)
{
return res;
libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
+3 -1
View File
@@ -309,8 +309,10 @@ public:
, node_status_sub_(node)
{ }
int init()
int init(const TransferPriority priority)
{
// TODO FIXME set priority
(void)priority;
int res = get_node_info_client_.init();
if (res < 0)
{
libuavcan/include/uavcan/protocol/global_time_sync_master.hpp
+3 -3
View File
@@ -46,14 +46,14 @@ class UAVCAN_EXPORT GlobalTimeSyncMaster : protected LoopbackFrameListenerBase
UAVCAN_ASSERT(iface_index < MaxCanIfaces);
}
int init()
int init(TransferPriority priority = TransferPriority::OneLowerThanHighest)
{
const int res = pub_.init();
if (res >= 0)
{
pub_.getTransferSender().setIfaceMask(uint8_t(1 << iface_index_));
pub_.getTransferSender().setCanIOFlags(CanIOFlagLoopback);
pub_.setPriority(TransferPriorityHigh); // Fixed priority
pub_.setPriority(priority);
}
return res;
}
@@ -109,7 +109,7 @@ class UAVCAN_EXPORT GlobalTimeSyncMaster : protected LoopbackFrameListenerBase
{
if (frame.getDataTypeID() == dtid_ &&
frame.getTransferType() == TransferTypeMessageBroadcast &&
frame.isLast() && frame.isFirst() &&
frame.isStartOfTransfer() && frame.isEndOfTransfer() &&
frame.getSrcNodeID() == node_.getNodeID())
{
iface_masters_[iface]->setTxTimestamp(frame.getUtcTimestamp());
libuavcan/include/uavcan/protocol/logger.hpp
+2 -2
View File
@@ -94,14 +94,14 @@ public:
* Must be called once before use.
* Returns negative error code.
*/
int init()
int init(TransferPriority priority = TransferPriority::OneHigherThanLowest)
{
const int res = logmsg_pub_.init();
if (res < 0)
{
return res;
}
logmsg_pub_.setPriority(TransferPriorityLow); // Fixed priority
logmsg_pub_.setPriority(priority); // Fixed priority
return 0;
}
libuavcan/include/uavcan/protocol/network_compat_checker.hpp
+4 -1
View File
@@ -118,6 +118,7 @@ class UAVCAN_EXPORT NetworkCompatibilityChecker : Noncopyable
last_cats_request_ok_ = resp.isSuccessful();
if (last_cats_request_ok_)
{
#if 0 /* TODO FIXME */
const DataTypeSignature sign = GlobalDataTypeRegistry::instance().
computeAggregateSignature(checking_dtkind_, resp.getResponse().mutually_known_ids);
@@ -129,6 +130,7 @@ class UAVCAN_EXPORT NetworkCompatibilityChecker : Noncopyable
{
result_.conflicting_node = resp.getCallID().server_node_id;
}
#endif
}
}
@@ -143,7 +145,8 @@ class UAVCAN_EXPORT NetworkCompatibilityChecker : Noncopyable
checking_dtkind_ = kind;
protocol::ComputeAggregateTypeSignature::Request request;
request.kind.value = kind;
GlobalDataTypeRegistry::instance().getDataTypeIDMask(kind, request.known_ids);
// TODO FIXME
// GlobalDataTypeRegistry::instance().getDataTypeIDMask(kind, request.known_ids);
int res = cats_cln_.call(nid, request);
if (res < 0)
libuavcan/include/uavcan/transport/transfer.hpp
+17
View File
@@ -7,6 +7,7 @@
#include <cassert>
#include <uavcan/build_config.hpp>
#include <uavcan/util/templates.hpp>
#include <uavcan/std.hpp>
namespace uavcan
@@ -29,7 +30,13 @@ class UAVCAN_EXPORT TransferPriority
public:
static const uint8_t BitLen = 5U;
static const uint8_t NumericallyMax = (1U << BitLen) - 1;
static const uint8_t NumericallyMin = 0;
/// This priority is used by default
static const TransferPriority Default;
static const TransferPriority OneHigherThanLowest;
static const TransferPriority OneLowerThanHighest;
TransferPriority() : value_(0xFF) { }
@@ -39,6 +46,16 @@ public:
UAVCAN_ASSERT(isValid());
}
template <uint8_t Percent>
static TransferPriority fromPercent()
{
StaticAssert<(Percent <= 100)>::check();
enum { Result = ((100U - Percent) * NumericallyMax) / 100U };
StaticAssert<(Result <= NumericallyMax)>::check();
StaticAssert<(Result >= NumericallyMin)>::check();
return TransferPriority(Result);
}
uint8_t get() const { return value_; }
bool isValid() const { return value_ < (1U << BitLen); }