mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 01:53:33 +08:00
All unit tests compile, but crash. This is the most horrifying commit I've ever made.
This commit is contained in:
Pavel Kirienko
@@ -13,6 +13,18 @@
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* The code you're about to look at desperately needs some cleaning.
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*/
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enum SotEotToggle
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{
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SET000 = 0,
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SET001 = 1,
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SET010 = 2,
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SET011 = 3,
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SET100 = 4,
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SET101 = 5, // Illegal
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SET110 = 6,
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SET111 = 7 // Illegal
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};
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struct RxFrameGenerator
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{
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static const uavcan::TransferBufferManagerKey DEFAULT_KEY;
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@@ -26,7 +38,8 @@ struct RxFrameGenerator
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, bufmgr_key(bufmgr_key)
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{ }
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uavcan::RxFrame operator()(uint8_t iface_index, const std::string& data, uint8_t frame_index, bool last,
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/// iface_index, data, set, transfer_id, ts_monotonic [, ts_utc]
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uavcan::RxFrame operator()(uint8_t iface_index, const std::string& data, SotEotToggle set,
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uint8_t transfer_id, uint64_t ts_monotonic, uint64_t ts_utc = 0)
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{
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const uavcan::NodeID dst_nid =
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@@ -34,7 +47,15 @@ struct RxFrameGenerator
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uavcan::NodeID::Broadcast : TARGET_NODE_ID;
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uavcan::Frame frame(data_type_id, bufmgr_key.getTransferType(), bufmgr_key.getNodeID(),
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dst_nid, frame_index, transfer_id, last);
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dst_nid, transfer_id);
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frame.setStartOfTransfer((set & (1 << 2)) != 0);
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frame.setEndOfTransfer((set & (1 << 1)) != 0);
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if ((set & (1 << 0)) != 0)
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{
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frame.flipToggle();
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}
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EXPECT_EQ(data.length(),
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frame.setPayload(reinterpret_cast<const uint8_t*>(data.c_str()), unsigned(data.length())));
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@@ -113,16 +134,16 @@ TEST(TransferReceiver, Basic)
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/*
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* Single frame transfer with zero ts, must be ignored
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*/
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "Foo", 0, true, 0, 0), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "Foo", SET110, 0, 0), bk));
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ASSERT_EQ(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval());
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ASSERT_EQ(0, rcv.getLastTransferTimestampMonotonic().toUSec());
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/*
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* Valid compound transfer
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* Args: iface_index, data, frame_index, last, transfer_id, timestamp
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* Args: iface_index, data, set, transfer_id, ts_monotonic
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*/
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x34\x12" "345678", 0, false, 0, 100), bk));
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CHECK_COMPLETE(rcv.addFrame(gen(0, "foo", 1, true, 0, 200), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x34\x12" "345678", SET100, 0, 100), bk));
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CHECK_COMPLETE( rcv.addFrame(gen(0, "foo", SET011, 0, 200), bk));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678foo"));
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ASSERT_EQ(0x1234, rcv.getLastTransferCrc());
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@@ -131,16 +152,18 @@ TEST(TransferReceiver, Basic)
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/*
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* Compound transfer mixed with invalid frames; buffer was not released explicitly
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* Args: iface_index, data, set, transfer_id, ts_monotonic
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*/
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, false, 0, 300), bk)); // Previous TID, rejected
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "rty", 0, false, 0, 300), bk)); // Previous TID, wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x9a\x78" "345678", 0, false, 1, 1000), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", 0, false, 1, 1100), bk)); // Old FI
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "abcdefgh", 1, false, 1, 1200), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "45678910", 1, false, 2, 1300), bk)); // Next TID, but FI > 0
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 2, true, 1, 1300), bk)); // Wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 11, true, 1, 1300), bk)); // Unexpected FI
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CHECK_COMPLETE( rcv.addFrame(gen(0, "", 2, true, 1, 1300), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", SET100, 0, 300), bk)); // Previous TID, rejected
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "rty", SET100, 0, 300), bk)); // Previous TID, wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x9a\x78" "345678", SET100, 1, 1000), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", SET100, 1, 1100), bk)); // Old toggle
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", SET000, 1, 1100), bk)); // Old toggle
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "abcdefgh", SET001, 1, 1200), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "45678910", SET001, 2, 1300), bk)); // Next TID, but not SOT
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", SET010, 1, 1300), bk)); // Wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", SET000, 1, 1300), bk)); // Unexpected toggle
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CHECK_COMPLETE( rcv.addFrame(gen(0, "", SET010, 1, 1300), bk));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678abcdefgh"));
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ASSERT_EQ(0x789A, rcv.getLastTransferCrc());
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@@ -153,25 +176,26 @@ TEST(TransferReceiver, Basic)
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/*
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* Single-frame transfers
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* Args: iface_index, data, set, transfer_id, ts_monotonic
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*/
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, true, 1, 2000), bk)); // Previous TID
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 2, 2100), bk)); // Wrong iface
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 2, 2200), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", SET110, 1, 2000), bk)); // Previous TID
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", SET110, 2, 2100), bk)); // Wrong iface
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", SET110, 2, 2200), bk));
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ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer must be removed
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ASSERT_GT(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval());
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ASSERT_EQ(2200, rcv.getLastTransferTimestampMonotonic().toUSec());
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", 0, true, 3, 2500), bk));
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", SET110, 3, 2500), bk));
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ASSERT_EQ(2500, rcv.getLastTransferTimestampMonotonic().toUSec());
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 0, 3000), bk)); // Old TID
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 1, 3100), bk)); // Old TID
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 3, 3200), bk)); // Old TID
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 0, 3300), bk)); // Old TID, wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 2, 3400), bk)); // Old TID, wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 3, 3500), bk)); // Old TID, wrong iface
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", 0, true, 4, 3600), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", SET110, 0, 3000), bk)); // Old TID
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", SET110, 1, 3100), bk)); // Old TID
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", SET110, 3, 3200), bk)); // Old TID
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", SET110, 0, 3300), bk)); // Old TID, wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", SET110, 2, 3400), bk)); // Old TID, wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", SET110, 3, 3500), bk)); // Old TID, wrong iface
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", SET110, 4, 3600), bk));
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ASSERT_EQ(3600, rcv.getLastTransferTimestampMonotonic().toUSec());
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std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
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@@ -179,34 +203,34 @@ TEST(TransferReceiver, Basic)
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/*
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* Timeouts
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*/
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 1, 5000), bk)); // Wrong iface - ignored
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 6, 1500000), bk)); // Accepted due to iface timeout
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", SET110, 1, 5000), bk)); // Wrong iface - ignored
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", SET110, 6, 1500000), bk)); // Accepted due to iface timeout
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ASSERT_EQ(1500000, rcv.getLastTransferTimestampMonotonic().toUSec());
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std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, true, 7, 1500100), bk)); // Ignored - old iface 0
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 7, 1500100), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", SET110, 7, 1500100), bk)); // Ignored - old iface 0
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", SET110, 7, 1500100), bk));
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ASSERT_EQ(1500100, rcv.getLastTransferTimestampMonotonic().toUSec());
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std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 7, 1500100), bk)); // Old TID
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 7, 100000000), bk)); // Accepted - global timeout
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", SET110, 7, 1500100), bk)); // Old TID
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", SET110, 7, 100000000), bk)); // Accepted - global timeout
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ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
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std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 0, 100000100), bk));
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", SET110, 0, 100000100), bk));
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ASSERT_EQ(100000100, rcv.getLastTransferTimestampMonotonic().toUSec());
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std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
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ASSERT_TRUE(rcv.isTimedOut(tsMono(900000000)));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "\x78\x56" "345678", 0, false, 0, 900000000), bk)); // Global timeout
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 0, 900000100), bk)); // Wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 1, true, 0, 900000200), bk)); // Wrong iface
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CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", 1, true, 0, 900000200), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "\x78\x56" "345678", SET100, 0, 900000000), bk)); // Global timeout
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", SET100, 0, 900000100), bk)); // Wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", SET011, 0, 900000200), bk)); // Wrong iface
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CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", SET011, 0, 900000200), bk));
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ASSERT_EQ(900000000, rcv.getLastTransferTimestampMonotonic().toUSec());
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std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
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@@ -241,11 +265,11 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
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/*
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* Simple transfer, maximum buffer length
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*/
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 1, 100000000), bk)); // 6
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 1, 100000100), bk)); // 14
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 1, 100000200), bk)); // 22
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 1, 100000300), bk)); // 30
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CHECK_COMPLETE( rcv.addFrame(gen(1, "12", 4, true, 1, 100000400), bk)); // 32
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 1, 100000000), bk)); // 6
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET001, 1, 100000100), bk)); // 14
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET000, 1, 100000200), bk)); // 22
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET001, 1, 100000300), bk)); // 30
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CHECK_COMPLETE( rcv.addFrame(gen(1, "12", SET010, 1, 100000400), bk)); // 32
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ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567812345678123456781234567812"));
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@@ -254,11 +278,11 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
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/*
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* Transfer longer than available buffer space
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*/
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 2, 100001000), bk)); // 6
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 2, 100001100), bk)); // 14
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 2, 100001200), bk)); // 22
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 2, 100001200), bk)); // 30
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 4, true, 2, 100001300), bk)); // 38 // EOT, ignored - lost sync
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 2, 100001000), bk)); // 6
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET001, 2, 100001100), bk)); // 14
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET000, 2, 100001200), bk)); // 22
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET001, 2, 100001200), bk)); // 30
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET010, 2, 100001300), bk)); // 38 // EOT, ignored - lost sync
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ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec()); // Timestamp will not be overriden
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ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer should be removed
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@@ -268,32 +292,6 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
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}
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TEST(TransferReceiver, UnterminatedTransfer)
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{
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Context<512> context;
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RxFrameGenerator gen(789);
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uavcan::TransferReceiver& rcv = context.receiver;
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uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
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uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
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const uint8_t MaxIndex = uavcan::Frame::getMaxIndexForTransferType(RxFrameGenerator::DEFAULT_KEY.getTransferType());
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std::string content;
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for (uint8_t i = 0; i <= MaxIndex; i++)
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{
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", i, false, 0, 1000U + i), bk)); // Last one will be dropped
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content += "12345678";
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}
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CHECK_COMPLETE(rcv.addFrame(gen(1, "12345678", MaxIndex, true, 0, 1100), bk));
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ASSERT_EQ(1000, rcv.getLastTransferTimestampMonotonic().toUSec());
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), std::string(content, 2)));
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ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
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ASSERT_EQ(1, rcv.yieldErrorCount());
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ASSERT_EQ(0, rcv.yieldErrorCount());
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}
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TEST(TransferReceiver, OutOfOrderFrames)
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{
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Context<32> context;
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@@ -302,12 +300,12 @@ TEST(TransferReceiver, OutOfOrderFrames)
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uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
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uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 7, 100000000), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 3, false, 7, 100000100), bk)); // Out of order
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 2, true, 7, 100000200), bk)); // Out of order
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 7, 100000300), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 4, true, 7, 100000200), bk)); // Out of order
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CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 7, 100000400), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 7, 100000000), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET001, 7, 100000100), bk)); // Out of order
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET010, 7, 100000200), bk)); // Out of order
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", SET001, 7, 100000300), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET010, 7, 100000200), bk)); // Out of order
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CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 7, 100000400), bk));
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ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
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@@ -332,9 +330,9 @@ TEST(TransferReceiver, IntervalMeasurement)
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for (int i = 0; i < 1000; i++)
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{
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, tid.get(), timestamp), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, tid.get(), timestamp), bk));
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CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, tid.get(), timestamp), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, tid.get(), timestamp), bk));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", SET001, tid.get(), timestamp), bk));
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CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, tid.get(), timestamp), bk));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
|
||||
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
|
||||
@@ -359,16 +357,16 @@ TEST(TransferReceiver, Restart)
|
||||
/*
|
||||
* This transfer looks complete, but must be ignored because of large delay after the first frame
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 0, false, 0, 100), bk)); // Begin
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 1, false, 0, 10000100), bk)); // Continue 10 sec later, expired
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 2, true, 0, 10000200), bk)); // Ignored
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", SET100, 0, 100), bk)); // Begin
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", SET001, 0, 10000100), bk)); // Continue 10 sec later, expired
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", SET010, 0, 10000200), bk)); // Ignored
|
||||
|
||||
/*
|
||||
* 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, 12000300), bk)); // 2 sec later, iface timeout
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "12345678", 2, true, 0, 12000400), bk)); // OK nevertheless
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 0, 10000300), bk)); // Begin
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET001, 0, 12000300), bk)); // 2 sec later, iface timeout
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "12345678", SET010, 0, 12000400), bk)); // OK nevertheless
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456781234567812345678"));
|
||||
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
|
||||
@@ -376,14 +374,14 @@ TEST(TransferReceiver, Restart)
|
||||
/*
|
||||
* Begins OK, gets an iface timeout, switches to another iface
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 0, false, 1, 13000500), bk)); // Begin
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 1, false, 1, 16000500), bk)); // 3 sec later, iface timeout
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 1, false, 1, 16000600), bk)); // Same TID, another iface - ignore
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 1, false, 2, 16000700), bk)); // Not first frame - ignore
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 2, 16000800), bk)); // First, another iface - restart
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 2, true, 1, 16000600), bk)); // Old iface - ignore
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 1, false, 2, 16000900), bk)); // Continuing
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "12345678", 2, true, 2, 16000910), bk)); // Done
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET100, 1, 13000500), bk)); // Begin
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET001, 1, 16000500), bk)); // 3 sec later, iface timeout
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", SET001, 1, 16000600), bk)); // Same TID, another iface - ignore
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", SET001, 2, 16000700), bk)); // Not first frame - ignore
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", SET100, 2, 16000800), bk)); // First, another iface - restart
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET010, 1, 16000600), bk)); // Old iface - ignore
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", SET001, 2, 16000900), bk)); // Continuing
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "12345678", SET010, 2, 16000910), bk)); // Done
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456781234567812345678"));
|
||||
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
|
||||
@@ -404,9 +402,9 @@ TEST(TransferReceiver, UtcTransferTimestamping)
|
||||
/*
|
||||
* Zero UTC timestamp must be preserved
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 0, 1, 0), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 0, 2, 0), bk));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 0, 3, 0), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 0, 1, 0), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", SET001, 0, 2, 0), bk));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 0, 3, 0), bk));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
|
||||
ASSERT_EQ(1, rcv.getLastTransferTimestampMonotonic().toUSec());
|
||||
@@ -415,9 +413,9 @@ TEST(TransferReceiver, UtcTransferTimestamping)
|
||||
/*
|
||||
* Non-zero UTC timestamp
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 1, 4, 123), bk)); // This UTC is going to be preserved
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 1, 5, 0), bk)); // Following are ignored
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 1, 6, 42), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 1, 4, 123), bk)); // This UTC is going to be preserved
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", SET001, 1, 5, 0), bk)); // Following are ignored
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 1, 6, 42), bk));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
|
||||
ASSERT_EQ(4, rcv.getLastTransferTimestampMonotonic().toUSec());
|
||||
@@ -425,17 +423,18 @@ TEST(TransferReceiver, UtcTransferTimestamping)
|
||||
|
||||
/*
|
||||
* Single-frame transfers
|
||||
* iface_index, data, set, transfer_id, ts_monotonic
|
||||
*/
|
||||
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "abc", 0, true, 2, 10, 100000000), bk)); // Exact value is irrelevant
|
||||
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "abc", SET100, 2, 10, 100000000), bk)); // Exact value is irrelevant
|
||||
ASSERT_EQ(10, rcv.getLastTransferTimestampMonotonic().toUSec());
|
||||
ASSERT_EQ(100000000, rcv.getLastTransferTimestampUtc().toUSec());
|
||||
|
||||
/*
|
||||
* Restart recovery
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 1, 100000000, 800000000), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", 1, false, 1, 100000001, 300000000), bk));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", 2, true, 1, 100000002, 900000000), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", SET100, 1, 100000000, 800000000), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", SET001, 1, 100000001, 300000000), bk));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET010, 1, 100000002, 900000000), bk));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
|
||||
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
|
||||
@@ -450,9 +449,8 @@ TEST(TransferReceiver, HeaderParsing)
|
||||
uavcan::TransferReceiver& rcv = context.receiver;
|
||||
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
|
||||
|
||||
static const uavcan::TransferType ADDRESSED_TRANSFER_TYPES[3] =
|
||||
static const uavcan::TransferType ADDRESSED_TRANSFER_TYPES[2] =
|
||||
{
|
||||
uavcan::TransferTypeMessageUnicast,
|
||||
uavcan::TransferTypeServiceRequest,
|
||||
uavcan::TransferTypeServiceResponse
|
||||
};
|
||||
@@ -467,8 +465,8 @@ TEST(TransferReceiver, HeaderParsing)
|
||||
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), uavcan::TransferTypeMessageBroadcast);
|
||||
uavcan::TransferBufferAccessor bk1(context.bufmgr, gen.bufmgr_key);
|
||||
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, tid.get(), 1), bk1));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", 1, true, tid.get(), 2), bk1));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", SET100, tid.get(), 1), bk1));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET011, tid.get(), 2), bk1));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678abcd"));
|
||||
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
|
||||
@@ -478,7 +476,7 @@ TEST(TransferReceiver, HeaderParsing)
|
||||
}
|
||||
|
||||
/*
|
||||
* MFT, message unicast, service request/response
|
||||
* MFT, service request/response
|
||||
*/
|
||||
for (unsigned i = 0; i < (sizeof(ADDRESSED_TRANSFER_TYPES) / sizeof(ADDRESSED_TRANSFER_TYPES[0])); i++)
|
||||
{
|
||||
@@ -488,8 +486,8 @@ TEST(TransferReceiver, HeaderParsing)
|
||||
|
||||
const uint64_t ts_monotonic = i + 10;
|
||||
|
||||
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));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, tid.get(), ts_monotonic), bk2));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET011, tid.get(), ts_monotonic), bk2));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567abcd"));
|
||||
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
|
||||
@@ -501,21 +499,20 @@ TEST(TransferReceiver, HeaderParsing)
|
||||
/*
|
||||
* SFT, message broadcasting
|
||||
*/
|
||||
static const std::string SFT_PAYLOAD_BROADCAST = "12345678";
|
||||
static const std::string SFT_PAYLOAD_UNICAST = "1234567";
|
||||
static const std::string SFT_PAYLOAD = "1234567";
|
||||
|
||||
{
|
||||
gen.bufmgr_key =
|
||||
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), uavcan::TransferTypeMessageBroadcast);
|
||||
uavcan::TransferBufferAccessor bk(context.bufmgr, gen.bufmgr_key);
|
||||
|
||||
const uavcan::RxFrame frame = gen(0, SFT_PAYLOAD_BROADCAST, 0, true, tid.get(), 1000);
|
||||
const uavcan::RxFrame frame = gen(0, SFT_PAYLOAD, SET110, tid.get(), 1000);
|
||||
|
||||
CHECK_SINGLE_FRAME(rcv.addFrame(frame, bk));
|
||||
ASSERT_EQ(0x0000, rcv.getLastTransferCrc()); // Default value - zero
|
||||
|
||||
// All bytes are payload, zero overhead
|
||||
ASSERT_TRUE(std::equal(SFT_PAYLOAD_BROADCAST.begin(), SFT_PAYLOAD_BROADCAST.end(), frame.getPayloadPtr()));
|
||||
ASSERT_TRUE(std::equal(SFT_PAYLOAD.begin(), SFT_PAYLOAD.end(), frame.getPayloadPtr()));
|
||||
|
||||
tid.increment();
|
||||
}
|
||||
@@ -529,13 +526,13 @@ 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_UNICAST, 0, true, tid.get(), i + 10000U);
|
||||
const uavcan::RxFrame frame = gen(0, SFT_PAYLOAD, SET110, tid.get(), i + 10000U);
|
||||
|
||||
CHECK_SINGLE_FRAME(rcv.addFrame(frame, bk));
|
||||
ASSERT_EQ(0x0000, rcv.getLastTransferCrc()); // Default value - zero
|
||||
|
||||
// First byte must be ignored
|
||||
ASSERT_TRUE(std::equal(SFT_PAYLOAD_UNICAST.begin(), SFT_PAYLOAD_UNICAST.end(), frame.getPayloadPtr()));
|
||||
ASSERT_TRUE(std::equal(SFT_PAYLOAD.begin(), SFT_PAYLOAD.end(), frame.getPayloadPtr()));
|
||||
|
||||
tid.increment();
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user