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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-02 14:51:37 +08:00
CAN IO flags
This commit is contained in:
Pavel Kirienko
@@ -37,7 +37,9 @@ TEST(CanIOManager, Reception)
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* Empty, will time out
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*/
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uavcan::CanRxFrame frame;
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EXPECT_EQ(0, iomgr.receive(frame, tsMono(100)));
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uavcan::CanIOFlags flags = uavcan::CanIOFlags();
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EXPECT_EQ(0, iomgr.receive(frame, tsMono(100), flags));
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EXPECT_EQ(0, flags);
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EXPECT_EQ(100, clockmock.monotonic);
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EXPECT_EQ(100, clockmock.utc);
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@@ -60,36 +62,43 @@ TEST(CanIOManager, Reception)
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driver.ifaces.at(1).pushRx(frames[1][2]);
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clockmock.advance(10);
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EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime()));
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EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime(), flags));
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EXPECT_TRUE(rxFrameEquals(frame, frames[0][0], 110, 0));
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EXPECT_EQ(0, flags);
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EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime()));
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EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime(), flags));
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EXPECT_TRUE(rxFrameEquals(frame, frames[0][1], 120, 0));
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EXPECT_EQ(0, flags);
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EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime()));
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EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime(), flags));
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EXPECT_TRUE(rxFrameEquals(frame, frames[0][2], 130, 0));
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EXPECT_EQ(0, flags);
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EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime()));
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EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime(), flags));
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EXPECT_TRUE(rxFrameEquals(frame, frames[1][0], 110, 1));
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EXPECT_EQ(0, flags);
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EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime()));
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EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime(), flags));
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EXPECT_TRUE(rxFrameEquals(frame, frames[1][1], 120, 1));
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EXPECT_EQ(0, flags);
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EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime()));
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EXPECT_EQ(1, iomgr.receive(frame, uavcan::MonotonicTime(), flags));
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EXPECT_TRUE(rxFrameEquals(frame, frames[1][2], 130, 1));
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EXPECT_EQ(0, flags);
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EXPECT_EQ(0, iomgr.receive(frame, uavcan::MonotonicTime())); // Will time out
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EXPECT_EQ(0, iomgr.receive(frame, uavcan::MonotonicTime(), flags)); // Will time out
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EXPECT_EQ(0, flags);
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/*
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* Errors
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*/
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driver.select_failure = true;
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EXPECT_EQ(-1, iomgr.receive(frame, uavcan::MonotonicTime()));
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EXPECT_EQ(-1, iomgr.receive(frame, uavcan::MonotonicTime(), flags));
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driver.select_failure = false;
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driver.ifaces.at(1).pushRx(frames[0][0]);
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driver.ifaces.at(1).rx_failure = true;
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EXPECT_EQ(-1, iomgr.receive(frame, uavcan::MonotonicTime()));
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EXPECT_EQ(-1, iomgr.receive(frame, uavcan::MonotonicTime(), flags));
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driver.ifaces.at(0).num_errors = 9000;
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driver.ifaces.at(1).num_errors = 100500;
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@@ -123,14 +132,16 @@ TEST(CanIOManager, Transmission)
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makeCanFrame(1, "a0", EXT), makeCanFrame(99, "a1", EXT), makeCanFrame(803, "a2", STD)
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};
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uavcan::CanIOFlags flags = uavcan::CanIOFlags();
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/*
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* Simple transmission
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*/
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EXPECT_EQ(2, iomgr.send(frames[0], tsMono(100), tsMono(0), ALL_IFACES_MASK, CanTxQueue::Volatile)); // To both
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EXPECT_EQ(2, iomgr.send(frames[0], tsMono(100), tsMono(0), ALL_IFACES_MASK, CanTxQueue::Volatile, flags));// To both
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EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[0], 100));
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EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[0], 100));
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EXPECT_EQ(1, iomgr.send(frames[1], tsMono(200), tsMono(100), 2, CanTxQueue::Persistent)); // To #1
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EXPECT_EQ(1, iomgr.send(frames[1], tsMono(200), tsMono(100), 2, CanTxQueue::Persistent, flags)); // To #1
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EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[1], 200));
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EXPECT_EQ(0, clockmock.monotonic);
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@@ -147,7 +158,7 @@ TEST(CanIOManager, Transmission)
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// Sending to both, #0 blocked
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driver.ifaces.at(0).writeable = false;
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EXPECT_LT(0, iomgr.send(frames[0], tsMono(201), tsMono(200), ALL_IFACES_MASK, CanTxQueue::Persistent));
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EXPECT_LT(0, iomgr.send(frames[0], tsMono(201), tsMono(200), ALL_IFACES_MASK, CanTxQueue::Persistent, flags));
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EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[0], 201));
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EXPECT_EQ(200, clockmock.monotonic);
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EXPECT_EQ(200, clockmock.utc);
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@@ -157,11 +168,11 @@ TEST(CanIOManager, Transmission)
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// Sending to both, both blocked
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driver.ifaces.at(1).writeable = false;
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EXPECT_EQ(0, iomgr.send(frames[1], tsMono(777), tsMono(300), ALL_IFACES_MASK, CanTxQueue::Volatile));
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EXPECT_EQ(0, iomgr.send(frames[1], tsMono(777), tsMono(300), ALL_IFACES_MASK, CanTxQueue::Volatile, flags));
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EXPECT_EQ(3, pool.getNumUsedBlocks()); // Total 3 frames in TX queue now
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// Sending to #0, both blocked
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EXPECT_EQ(0, iomgr.send(frames[2], tsMono(888), tsMono(400), 1, CanTxQueue::Persistent));
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EXPECT_EQ(0, iomgr.send(frames[2], tsMono(888), tsMono(400), 1, CanTxQueue::Persistent, flags));
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EXPECT_EQ(400, clockmock.monotonic);
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EXPECT_EQ(400, clockmock.utc);
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EXPECT_TRUE(driver.ifaces.at(0).tx.empty());
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@@ -175,7 +186,7 @@ TEST(CanIOManager, Transmission)
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// Sending to #1, both writeable
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driver.ifaces.at(0).writeable = true;
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driver.ifaces.at(1).writeable = true;
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EXPECT_LT(0, iomgr.send(frames[0], tsMono(999), tsMono(500), 2, CanTxQueue::Persistent)); // One frame per each iface will be sent
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EXPECT_LT(0, iomgr.send(frames[0], tsMono(999), tsMono(500), 2, CanTxQueue::Persistent, flags)); // One frame per each iface will be sent
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EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[1], 777)); // Note that frame[0] on iface #0 has expired
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EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[0], 999)); // In different order due to prioritization
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EXPECT_TRUE(driver.ifaces.at(0).tx.empty());
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@@ -183,9 +194,10 @@ TEST(CanIOManager, Transmission)
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// Calling receive() to flush the rest two frames
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uavcan::CanRxFrame dummy_rx_frame;
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EXPECT_EQ(0, iomgr.receive(dummy_rx_frame, tsMono(0)));
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EXPECT_EQ(0, iomgr.receive(dummy_rx_frame, tsMono(0), flags));
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EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[2], 888));
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EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[1], 777));
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ASSERT_EQ(0, flags);
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// Final checks
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EXPECT_TRUE(driver.ifaces.at(0).tx.empty());
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@@ -201,9 +213,9 @@ TEST(CanIOManager, Transmission)
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driver.ifaces.at(1).writeable = false;
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// Sending 5 frames, one will be rejected
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EXPECT_EQ(0, iomgr.send(frames[2], tsMono(2222), tsMono(1000), ALL_IFACES_MASK, CanTxQueue::Persistent));
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EXPECT_EQ(0, iomgr.send(frames[0], tsMono(3333), tsMono(1100), 2, CanTxQueue::Persistent));
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EXPECT_EQ(0, iomgr.send(frames[1], tsMono(4444), tsMono(1200), ALL_IFACES_MASK, CanTxQueue::Volatile)); // One frame kicked here
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EXPECT_EQ(0, iomgr.send(frames[2], tsMono(2222), tsMono(1000), ALL_IFACES_MASK, CanTxQueue::Persistent, flags));
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EXPECT_EQ(0, iomgr.send(frames[0], tsMono(3333), tsMono(1100), 2, CanTxQueue::Persistent, flags));
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EXPECT_EQ(0, iomgr.send(frames[1], tsMono(4444), tsMono(1200), ALL_IFACES_MASK, CanTxQueue::Volatile, flags)); // One frame kicked here
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// State checks
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EXPECT_EQ(4, pool.getNumUsedBlocks()); // TX queue is full
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@@ -221,15 +233,17 @@ TEST(CanIOManager, Transmission)
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// This shall transmit _some_ frames now, at least one per iface (exact number can be changed - it will be OK)
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uavcan::CanRxFrame rx_frame;
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EXPECT_EQ(1, iomgr.receive(rx_frame, tsMono(0))); // Non-blocking
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EXPECT_EQ(1, iomgr.receive(rx_frame, tsMono(0), flags)); // Non-blocking
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EXPECT_TRUE(rxFrameEquals(rx_frame, rx_frames[0], 1200, 0));
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EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[1], 4444));
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EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[0], 3333));
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ASSERT_EQ(0, flags);
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EXPECT_EQ(1, iomgr.receive(rx_frame, tsMono(0)));
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EXPECT_EQ(1, iomgr.receive(rx_frame, tsMono(0), flags));
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EXPECT_TRUE(rxFrameEquals(rx_frame, rx_frames[1], 1200, 1));
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EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[2], 2222));
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EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[2], 2222)); // Iface #1, frame[1] was rejected (VOLATILE)
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ASSERT_EQ(0, flags);
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// State checks
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EXPECT_EQ(0, pool.getNumUsedBlocks()); // TX queue is empty
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@@ -245,10 +259,11 @@ TEST(CanIOManager, Transmission)
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*/
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// Select failure
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driver.select_failure = true;
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EXPECT_EQ(-1, iomgr.receive(rx_frame, tsMono(2000)));
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EXPECT_EQ(-1, iomgr.send(frames[0], tsMono(2100), tsMono(2000), ALL_IFACES_MASK, CanTxQueue::Volatile));
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EXPECT_EQ(-1, iomgr.receive(rx_frame, tsMono(2000), flags));
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EXPECT_EQ(-1, iomgr.send(frames[0], tsMono(2100), tsMono(2000), ALL_IFACES_MASK, CanTxQueue::Volatile, flags));
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EXPECT_EQ(1200, clockmock.monotonic);
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EXPECT_EQ(1200, clockmock.utc);
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ASSERT_EQ(0, flags);
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// Transmission failure
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driver.select_failure = false;
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@@ -256,15 +271,69 @@ TEST(CanIOManager, Transmission)
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driver.ifaces.at(1).writeable = true;
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driver.ifaces.at(0).tx_failure = true;
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driver.ifaces.at(1).tx_failure = true;
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EXPECT_GE(0, iomgr.send(frames[0], tsMono(2200), tsMono(0), ALL_IFACES_MASK, CanTxQueue::Persistent)); // Non-blocking - return < 0
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EXPECT_GE(0, iomgr.send(frames[0], tsMono(2200), tsMono(0), ALL_IFACES_MASK, CanTxQueue::Persistent, flags)); // Non-blocking - return < 0
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ASSERT_EQ(2, pool.getNumUsedBlocks()); // Untransmitted frames will be buffered
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// Failure removed - transmission shall proceed
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driver.ifaces.at(0).tx_failure = false;
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driver.ifaces.at(1).tx_failure = false;
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EXPECT_EQ(0, iomgr.receive(rx_frame, tsMono(2500)));
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EXPECT_EQ(0, iomgr.receive(rx_frame, tsMono(2500), flags));
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EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[0], 2200));
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EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[0], 2200));
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EXPECT_EQ(0, pool.getNumUsedBlocks()); // All transmitted
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ASSERT_EQ(0, flags);
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}
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TEST(CanIOManager, Loopback)
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{
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using uavcan::CanIOManager;
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using uavcan::CanTxQueue;
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using uavcan::CanFrame;
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using uavcan::CanRxFrame;
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// Memory
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typedef uavcan::PoolAllocator<sizeof(CanTxQueue::Entry) * 4, sizeof(CanTxQueue::Entry)> Pool1;
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Pool1* ppool = new Pool1();
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Pool1& pool = *ppool;
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uavcan::PoolManager<2> poolmgr;
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poolmgr.addPool(&pool);
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// Platform interface
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SystemClockMock clockmock;
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CanDriverMock driver(2, clockmock);
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// IO Manager
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CanIOManager iomgr(driver, poolmgr, clockmock);
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ASSERT_EQ(2, iomgr.getNumIfaces());
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CanFrame fr1;
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fr1.id = 123 | CanFrame::FlagEFF;
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CanFrame fr2;
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fr2.id = 456 | CanFrame::FlagEFF;
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CanRxFrame rfr1;
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CanRxFrame rfr2;
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uavcan::CanIOFlags flags = 0;
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ASSERT_EQ(1, iomgr.send(fr1, tsMono(1000), tsMono(0), 1, CanTxQueue::Volatile, uavcan::CanIOFlagLoopback));
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ASSERT_LE(0, iomgr.receive(rfr1, tsMono(100), flags));
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ASSERT_EQ(uavcan::CanIOFlagLoopback, flags);
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ASSERT_TRUE(rfr1 == fr1);
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flags = 0;
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ASSERT_EQ(1, iomgr.send(fr1, tsMono(1000), tsMono(0), 1, CanTxQueue::Volatile, uavcan::CanIOFlagLoopback));
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ASSERT_EQ(1, iomgr.send(fr2, tsMono(1000), tsMono(0), 1, CanTxQueue::Persistent, uavcan::CanIOFlagLoopback));
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ASSERT_LE(0, iomgr.receive(rfr1, tsMono(100), flags));
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ASSERT_EQ(uavcan::CanIOFlagLoopback, flags);
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ASSERT_LE(0, iomgr.receive(rfr2, tsMono(100), flags));
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ASSERT_EQ(uavcan::CanIOFlagLoopback, flags);
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ASSERT_TRUE(rfr1 == fr1);
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ASSERT_TRUE(rfr2 == fr2);
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}
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TEST(CanIOManager, Size)
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{
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std::cout << sizeof(uavcan::CanIOManager) << std::endl;
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}
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