fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 05:21:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Modified CAN driver API: Passing the next pending TX frames into the select() call to facilitate proper prioritization in the driver

Browse Source
This commit is contained in:
Pavel Kirienko
2015-07-05 18:46:21 +03:00
parent b4ba088e08
commit 8d923fee4c
10 changed files with 127 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/test/transport/can/io.cpp
+27
View File
@@ -141,9 +141,13 @@ TEST(CanIOManager, Transmission)
EXPECT_EQ(2, iomgr.send(frames[0], tsMono(100), tsMono(0), ALL_IFACES_MASK, CanTxQueue::Volatile, flags));
EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[0], 100));
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[0], 100));
EXPECT_TRUE(driver.ifaces.at(0).matchPendingTx(frames[0]));
EXPECT_TRUE(driver.ifaces.at(1).matchPendingTx(frames[0]));
EXPECT_EQ(1, iomgr.send(frames[1], tsMono(200), tsMono(100), 2, CanTxQueue::Persistent, flags)); // To #1 only
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[1], 200));
EXPECT_TRUE(driver.ifaces.at(0).matchPendingTx(uavcan::CanFrame()));
EXPECT_TRUE(driver.ifaces.at(1).matchPendingTx(frames[1]));
EXPECT_EQ(0, clockmock.monotonic);
EXPECT_EQ(0, clockmock.utc);
@@ -166,11 +170,15 @@ TEST(CanIOManager, Transmission)
EXPECT_TRUE(driver.ifaces.at(0).tx.empty());
EXPECT_TRUE(driver.ifaces.at(1).tx.empty());
EXPECT_EQ(1, pool.getNumUsedBlocks()); // One frame went into TX queue, and will expire soon
EXPECT_TRUE(driver.ifaces.at(0).matchPendingTx(frames[0])); // This one will persist
EXPECT_TRUE(driver.ifaces.at(1).matchPendingTx(uavcan::CanFrame())); // This will drop off on the second select()
// Sending to both, both blocked
driver.ifaces.at(1).writeable = false;
EXPECT_EQ(0, iomgr.send(frames[1], tsMono(777), tsMono(300), ALL_IFACES_MASK, CanTxQueue::Volatile, flags));
EXPECT_EQ(3, pool.getNumUsedBlocks()); // Total 3 frames in TX queue now
EXPECT_TRUE(driver.ifaces.at(0).matchPendingTx(frames[0])); // Still 0
EXPECT_TRUE(driver.ifaces.at(1).matchPendingTx(frames[1])); // 1!!
// Sending to #0, both blocked
EXPECT_EQ(0, iomgr.send(frames[2], tsMono(888), tsMono(400), 1, CanTxQueue::Persistent, flags));
@@ -179,6 +187,8 @@ TEST(CanIOManager, Transmission)
EXPECT_TRUE(driver.ifaces.at(0).tx.empty());
EXPECT_TRUE(driver.ifaces.at(1).tx.empty());
EXPECT_EQ(4, pool.getNumUsedBlocks());
EXPECT_TRUE(driver.ifaces.at(0).matchPendingTx(frames[0]));
EXPECT_TRUE(driver.ifaces.at(1).matchPendingTx(frames[1]));
// At this time TX queues are containing the following data:
// iface 0: frames[0] (EXPIRED), frames[1], frames[2]
@@ -193,6 +203,8 @@ TEST(CanIOManager, Transmission)
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[0], 999)); // In different order due to prioritization
EXPECT_TRUE(driver.ifaces.at(0).tx.empty());
EXPECT_TRUE(driver.ifaces.at(1).tx.empty());
EXPECT_TRUE(driver.ifaces.at(0).matchPendingTx(frames[0])); // Expired but still will be reported
EXPECT_TRUE(driver.ifaces.at(1).matchPendingTx(frames[0]));
// Calling receive() to flush the rest two frames
uavcan::CanRxFrame dummy_rx_frame;
@@ -200,6 +212,8 @@ TEST(CanIOManager, Transmission)
EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[2], 888));
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[1], 777));
ASSERT_EQ(0, flags);
EXPECT_TRUE(driver.ifaces.at(0).matchPendingTx(frames[2]));
EXPECT_TRUE(driver.ifaces.at(1).matchPendingTx(frames[1]));
// Final checks
EXPECT_TRUE(driver.ifaces.at(0).tx.empty());
@@ -220,6 +234,9 @@ TEST(CanIOManager, Transmission)
// One frame kicked here:
EXPECT_EQ(0, iomgr.send(frames[1], tsMono(4444), tsMono(1200), ALL_IFACES_MASK, CanTxQueue::Volatile, flags));
EXPECT_TRUE(driver.ifaces.at(0).matchPendingTx(frames[1]));
EXPECT_TRUE(driver.ifaces.at(1).matchPendingTx(frames[0]));
// State checks
EXPECT_EQ(4, pool.getNumUsedBlocks()); // TX queue is full
EXPECT_EQ(1200, clockmock.monotonic);
@@ -241,12 +258,16 @@ TEST(CanIOManager, Transmission)
EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[1], 4444));
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[0], 3333));
ASSERT_EQ(0, flags);
EXPECT_TRUE(driver.ifaces.at(0).matchPendingTx(frames[1]));
EXPECT_TRUE(driver.ifaces.at(1).matchPendingTx(frames[0]));
EXPECT_EQ(1, iomgr.receive(rx_frame, tsMono(0), flags));
EXPECT_TRUE(rxFrameEquals(rx_frame, rx_frames[1], 1200, 1));
EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[2], 2222));
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[2], 2222)); // Iface #1, frame[1] was rejected (VOLATILE)
ASSERT_EQ(0, flags);
EXPECT_TRUE(driver.ifaces.at(0).matchPendingTx(frames[2]));
EXPECT_TRUE(driver.ifaces.at(1).matchPendingTx(frames[2]));
// State checks
EXPECT_EQ(0, pool.getNumUsedBlocks()); // TX queue is empty
@@ -268,6 +289,8 @@ TEST(CanIOManager, Transmission)
EXPECT_EQ(1200, clockmock.monotonic);
EXPECT_EQ(1200, clockmock.utc);
ASSERT_EQ(0, flags);
EXPECT_TRUE(driver.ifaces.at(0).matchPendingTx(frames[0]));
EXPECT_TRUE(driver.ifaces.at(1).matchPendingTx(frames[0]));
// Transmission failure
driver.select_failure = false;
@@ -277,6 +300,8 @@ TEST(CanIOManager, Transmission)
driver.ifaces.at(1).tx_failure = true;
// Non-blocking - return < 0
EXPECT_GE(0, iomgr.send(frames[0], tsMono(2200), tsMono(0), ALL_IFACES_MASK, CanTxQueue::Persistent, flags));
EXPECT_TRUE(driver.ifaces.at(0).matchPendingTx(frames[0]));
EXPECT_TRUE(driver.ifaces.at(1).matchPendingTx(frames[0]));
ASSERT_EQ(2, pool.getNumUsedBlocks()); // Untransmitted frames will be buffered
@@ -288,6 +313,8 @@ TEST(CanIOManager, Transmission)
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[0], 2200));
EXPECT_EQ(0, pool.getNumUsedBlocks()); // All transmitted
ASSERT_EQ(0, flags);
EXPECT_TRUE(driver.ifaces.at(0).matchPendingTx(uavcan::CanFrame())); // Last call will be receive-only,
EXPECT_TRUE(driver.ifaces.at(1).matchPendingTx(uavcan::CanFrame())); // hence empty TX
/*
* Perf counters