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Transfer buffering system detemplatized; compiles but tests are failing

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This commit is contained in:
Pavel Kirienko
2015-10-14 19:59:04 +03:00
parent 763e96b6ed
commit a9fdf44fa9
20 changed files with 335 additions and 510 deletions
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libuavcan/test/transport/dispatcher.cpp
+14 -14
View File
@@ -86,17 +86,17 @@ TEST(Dispatcher, Reception)
makeDataType(uavcan::DataTypeKindService, 1)
};
typedef TestListener<512> Subscriber;
typedef std::auto_ptr<Subscriber> SubscriberPtr;
static const int NUM_SUBSCRIBERS = 6;
SubscriberPtr subscribers[NUM_SUBSCRIBERS] =
typedef std::auto_ptr<TestListener> TestListenerPtr;
static const int MaxBufSize = 512;
static const int NumSubscribers = 6;
TestListenerPtr subscribers[NumSubscribers] =
{
SubscriberPtr(new Subscriber(dispatcher.getTransferPerfCounter(), TYPES[0], pool)), // msg
SubscriberPtr(new Subscriber(dispatcher.getTransferPerfCounter(), TYPES[0], pool)), // msg // Two similar
SubscriberPtr(new Subscriber(dispatcher.getTransferPerfCounter(), TYPES[1], pool)), // msg
SubscriberPtr(new Subscriber(dispatcher.getTransferPerfCounter(), TYPES[2], pool)), // srv
SubscriberPtr(new Subscriber(dispatcher.getTransferPerfCounter(), TYPES[3], pool)), // srv
SubscriberPtr(new Subscriber(dispatcher.getTransferPerfCounter(), TYPES[3], pool)) // srv // Repeat again
TestListenerPtr(new TestListener(dispatcher.getTransferPerfCounter(), TYPES[0], MaxBufSize, pool)), // msg
TestListenerPtr(new TestListener(dispatcher.getTransferPerfCounter(), TYPES[0], MaxBufSize, pool)), // msg // Two similar
TestListenerPtr(new TestListener(dispatcher.getTransferPerfCounter(), TYPES[1], MaxBufSize, pool)), // msg
TestListenerPtr(new TestListener(dispatcher.getTransferPerfCounter(), TYPES[2], MaxBufSize, pool)), // srv
TestListenerPtr(new TestListener(dispatcher.getTransferPerfCounter(), TYPES[3], MaxBufSize, pool)), // srv
TestListenerPtr(new TestListener(dispatcher.getTransferPerfCounter(), TYPES[3], MaxBufSize, pool)) // srv // Repeat again
};
static const std::string DATA[6] =
@@ -139,7 +139,7 @@ TEST(Dispatcher, Reception)
/*
* Registration
*/
for (int i = 0; i < NUM_SUBSCRIBERS; i++)
for (int i = 0; i < NumSubscribers; i++)
{
ASSERT_FALSE(dispatcher.hasSubscriber(subscribers[i]->getDataTypeDescriptor().getID()));
ASSERT_FALSE(dispatcher.hasPublisher(subscribers[i]->getDataTypeDescriptor().getID()));
@@ -153,7 +153,7 @@ TEST(Dispatcher, Reception)
ASSERT_TRUE(dispatcher.registerServiceResponseListener(subscribers[4].get()));
ASSERT_TRUE(dispatcher.registerServiceResponseListener(subscribers[5].get()));
for (int i = 0; i < NUM_SUBSCRIBERS; i++)
for (int i = 0; i < NumSubscribers; i++)
{
ASSERT_FALSE(dispatcher.hasPublisher(subscribers[i]->getDataTypeDescriptor().getID()));
}
@@ -177,7 +177,7 @@ TEST(Dispatcher, Reception)
ASSERT_EQ(1, dispatcher.getNumServiceRequestListeners());
ASSERT_EQ(2, dispatcher.getNumServiceResponseListeners());
for (int i = 0; i < NUM_SUBSCRIBERS; i++)
for (int i = 0; i < NumSubscribers; i++)
{
ASSERT_TRUE(subscribers[i]->isEmpty());
}
@@ -214,7 +214,7 @@ TEST(Dispatcher, Reception)
ASSERT_TRUE(subscribers[5]->matchAndPop(transfers[3]));
for (int i = 0; i < NUM_SUBSCRIBERS; i++)
for (int i = 0; i < NumSubscribers; i++)
{
ASSERT_TRUE(subscribers[i]->isEmpty());
}
libuavcan/test/transport/incoming_transfer.cpp
+1 -1
View File
@@ -73,7 +73,7 @@ TEST(MultiFrameIncomingTransfer, Basic)
using uavcan::MultiFrameIncomingTransfer;
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 100, uavcan::MemPoolBlockSize> poolmgr;
uavcan::TransferBufferManager<256> bufmgr(poolmgr);
uavcan::TransferBufferManager bufmgr(256, poolmgr);
const RxFrame frame = makeFrame();
uavcan::TransferBufferManagerKey bufmgr_key(frame.getSrcNodeID(), frame.getTransferType());
libuavcan/test/transport/transfer_buffer.cpp
+7 -16
View File
@@ -83,8 +83,8 @@ static const int TEST_BUFFER_SIZE = 200;
TEST(StaticTransferBuffer, Basic)
{
using uavcan::StaticTransferBufferManagerEntry;
StaticTransferBufferManagerEntry<TEST_BUFFER_SIZE> buf;
using uavcan::StaticTransferBuffer;
StaticTransferBuffer<TEST_BUFFER_SIZE> buf;
uint8_t local_buffer[TEST_BUFFER_SIZE * 2];
const uint8_t* const test_data_ptr = reinterpret_cast<const uint8_t*>(TEST_DATA.c_str());
@@ -126,15 +126,15 @@ TEST(StaticTransferBuffer, Basic)
}
TEST(DynamicTransferBufferManagerEntry, Basic)
TEST(TransferBufferManagerEntry, Basic)
{
using uavcan::DynamicTransferBufferManagerEntry;
using uavcan::TransferBufferManagerEntry;
static const int MAX_SIZE = TEST_BUFFER_SIZE;
static const int POOL_BLOCKS = 8;
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * POOL_BLOCKS, uavcan::MemPoolBlockSize> pool;
DynamicTransferBufferManagerEntry buf(pool, MAX_SIZE);
TransferBufferManagerEntry buf(pool, MAX_SIZE);
uint8_t local_buffer[TEST_BUFFER_SIZE * 2];
const uint8_t* const test_data_ptr = reinterpret_cast<const uint8_t*>(TEST_DATA.c_str());
@@ -186,7 +186,7 @@ TEST(DynamicTransferBufferManagerEntry, Basic)
// Destroying the object; memory should be released
ASSERT_LT(0, pool.getNumUsedBlocks());
buf.~DynamicTransferBufferManagerEntry();
buf.~TransferBufferManagerEntry();
ASSERT_EQ(0, pool.getNumUsedBlocks());
}
@@ -232,8 +232,7 @@ TEST(TransferBufferManager, Basic)
static const int POOL_BLOCKS = 100;
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * POOL_BLOCKS, uavcan::MemPoolBlockSize> pool;
typedef TransferBufferManager<MGR_MAX_BUFFER_SIZE> TransferBufferManagerType;
std::auto_ptr<TransferBufferManagerType> mgr(new TransferBufferManagerType(pool));
std::auto_ptr<TransferBufferManager> mgr(new TransferBufferManager(MGR_MAX_BUFFER_SIZE, pool));
// Empty
ASSERT_FALSE(mgr->access(TransferBufferManagerKey(0, uavcan::TransferTypeMessageBroadcast)));
@@ -313,11 +312,3 @@ TEST(TransferBufferManager, Basic)
mgr.reset();
ASSERT_EQ(0, pool.getNumUsedBlocks());
}
TEST(TransferBufferManager, EmptySpecialization)
{
uavcan::TransferBufferManager<0> mgr;
(void)mgr;
ASSERT_GE(sizeof(void*), sizeof(mgr));
}
libuavcan/test/transport/transfer_listener.cpp
+9 -9
View File
@@ -9,11 +9,11 @@
class TransferListenerEmulator : public IncomingTransferEmulatorBase
{
uavcan::TransferListenerBase& target_;
uavcan::TransferListener& target_;
const uavcan::DataTypeDescriptor data_type_;
public:
TransferListenerEmulator(uavcan::TransferListenerBase& target, const uavcan::DataTypeDescriptor& type,
TransferListenerEmulator(uavcan::TransferListener& target, const uavcan::DataTypeDescriptor& type,
uavcan::NodeID dst_node_id = 127)
: IncomingTransferEmulatorBase(dst_node_id)
, target_(target)
@@ -38,7 +38,7 @@ TEST(TransferListener, BasicMFT)
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * NUM_POOL_BLOCKS, uavcan::MemPoolBlockSize> pool;
uavcan::TransferPerfCounter perf;
TestListener<256> subscriber(perf, type, pool);
TestListener subscriber(perf, type, 256, pool);
/*
* Test data
@@ -96,7 +96,7 @@ TEST(TransferListener, CrcFailure)
static const int NUM_POOL_BLOCKS = 100;
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * NUM_POOL_BLOCKS, uavcan::MemPoolBlockSize> poolmgr;
uavcan::TransferPerfCounter perf;
TestListener<256> subscriber(perf, type, poolmgr); // Static buffer only, 2 entries
TestListener subscriber(perf, type, 256, poolmgr); // Static buffer only, 2 entries
/*
* Generating transfers with damaged payload (CRC is not valid)
@@ -140,7 +140,7 @@ TEST(TransferListener, BasicSFT)
static const int NUM_POOL_BLOCKS = 100;
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * NUM_POOL_BLOCKS, uavcan::MemPoolBlockSize> poolmgr;
uavcan::TransferPerfCounter perf;
TestListener<0> subscriber(perf, type, poolmgr); // Max buf size is 0, i.e. SFT-only
TestListener subscriber(perf, type, 0, poolmgr); // Max buf size is 0, i.e. SFT-only
TransferListenerEmulator emulator(subscriber, type);
const Transfer transfers[] =
@@ -176,7 +176,7 @@ TEST(TransferListener, Cleanup)
static const int NUM_POOL_BLOCKS = 100;
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * NUM_POOL_BLOCKS, uavcan::MemPoolBlockSize> poolmgr;
uavcan::TransferPerfCounter perf;
TestListener<256> subscriber(perf, type, poolmgr); // Static buffer only, 1 entry
TestListener subscriber(perf, type, 256, poolmgr);
/*
* Generating transfers
@@ -208,7 +208,7 @@ TEST(TransferListener, Cleanup)
/*
* Cleanup with huge timestamp value will remove all entries
*/
static_cast<uavcan::TransferListenerBase&>(subscriber).cleanup(tsMono(100000000));
static_cast<uavcan::TransferListener&>(subscriber).cleanup(tsMono(100000000));
/*
* Sending the same transfers again - they will be accepted since registres were cleared
@@ -232,7 +232,7 @@ TEST(TransferListener, AnonymousTransfers)
static const int NUM_POOL_BLOCKS = 100;
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * NUM_POOL_BLOCKS, uavcan::MemPoolBlockSize> poolmgr;
uavcan::TransferPerfCounter perf;
TestListener<0> subscriber(perf, type, poolmgr);
TestListener subscriber(perf, type, 0, poolmgr);
TransferListenerEmulator emulator(subscriber, type);
const Transfer transfers[] =
@@ -264,5 +264,5 @@ TEST(TransferListener, Sizes)
{
using namespace uavcan;
std::cout << "sizeof(TransferListener<64>): " << sizeof(TransferListener<64>) << std::endl;
std::cout << "sizeof(TransferListener): " << sizeof(TransferListener) << std::endl;
}
libuavcan/test/transport/transfer_receiver.cpp
+10 -10
View File
@@ -76,10 +76,10 @@ struct Context
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 100, uavcan::MemPoolBlockSize> pool;
uavcan::TransferReceiver receiver; // Must be default constructible and copyable
uavcan::TransferBufferManager<BufSize> bufmgr;
uavcan::TransferBufferManager bufmgr;
Context() :
bufmgr(pool)
bufmgr(BufSize, pool)
{ }
~Context()
@@ -122,7 +122,7 @@ TEST(TransferReceiver, Basic)
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
std::cout << "sizeof(TransferReceiver): " << sizeof(TransferReceiver) << std::endl;
@@ -261,7 +261,7 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
/*
@@ -299,7 +299,7 @@ TEST(TransferReceiver, OutOfOrderFrames)
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 7, 100000000), bk));
@@ -323,7 +323,7 @@ TEST(TransferReceiver, IntervalMeasurement)
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
static const int INTERVAL = 1000;
@@ -353,7 +353,7 @@ TEST(TransferReceiver, Restart)
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
/*
@@ -401,7 +401,7 @@ TEST(TransferReceiver, UtcTransferTimestamping)
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
/*
@@ -460,7 +460,7 @@ TEST(TransferReceiver, HeaderParsing)
Context<32> context;
RxFrameGenerator gen(123);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferManager& bufmgr = context.bufmgr;
/*
* MFT, message broadcasting
@@ -507,7 +507,7 @@ TEST(TransferReceiver, HeaderParsing)
Context<32> context;
RxFrameGenerator gen(123);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferManager& bufmgr = context.bufmgr;
static const uavcan::TransferType ADDRESSED_TRANSFER_TYPES[2] =
{
libuavcan/test/transport/transfer_sender.cpp
+3 -3
View File
@@ -123,9 +123,9 @@ TEST(TransferSender, Basic)
}
}
TestListener<512> sub_msg(dispatcher_rx.getTransferPerfCounter(), TYPES[0], poolmgr);
TestListener<512> sub_srv_req(dispatcher_rx.getTransferPerfCounter(), TYPES[1], poolmgr);
TestListener<512> sub_srv_resp(dispatcher_rx.getTransferPerfCounter(), TYPES[1], poolmgr);
TestListener sub_msg(dispatcher_rx.getTransferPerfCounter(), TYPES[0], 512, poolmgr);
TestListener sub_srv_req(dispatcher_rx.getTransferPerfCounter(), TYPES[1], 512, poolmgr);
TestListener sub_srv_resp(dispatcher_rx.getTransferPerfCounter(), TYPES[1], 512, poolmgr);
dispatcher_rx.registerMessageListener(&sub_msg);
dispatcher_rx.registerServiceRequestListener(&sub_srv_req);
libuavcan/test/transport/transfer_test_helpers.cpp
+1 -1
View File
@@ -11,7 +11,7 @@ TEST(TransferTestHelpers, Transfer)
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
uavcan::TransferBufferManager<128> mgr(pool);
uavcan::TransferBufferManager mgr(128, pool);
uavcan::TransferBufferAccessor tba(mgr, uavcan::TransferBufferManagerKey(0, uavcan::TransferTypeMessageBroadcast));
uavcan::RxFrame frame(uavcan::Frame(123, uavcan::TransferTypeMessageBroadcast, 1, 0, 0),
libuavcan/test/transport/transfer_test_helpers.hpp
+5 -6
View File
@@ -117,17 +117,16 @@ struct Transfer
* In reality, uavcan::TransferListener should accept only specific transfer types
* which are dispatched/filtered by uavcan::Dispatcher.
*/
template <unsigned MAX_BUF_SIZE>
class TestListener : public uavcan::TransferListener<MAX_BUF_SIZE>
class TestListener : public uavcan::TransferListener
{
typedef uavcan::TransferListener<MAX_BUF_SIZE> Base;
typedef uavcan::TransferListener Base;
std::queue<Transfer> transfers_;
public:
TestListener(uavcan::TransferPerfCounter& perf, const uavcan::DataTypeDescriptor& data_type,
uavcan::IPoolAllocator& allocator)
: Base(perf, data_type, allocator)
uavcan::uint16_t max_buffer_size, uavcan::IPoolAllocator& allocator)
: Base(perf, data_type, max_buffer_size, allocator)
{ }
void handleIncomingTransfer(uavcan::IncomingTransfer& transfer)
@@ -166,7 +165,7 @@ public:
return res;
}
int getNumReceivedTransfers() const { return transfers_.size(); }
unsigned getNumReceivedTransfers() const { return static_cast<unsigned>(transfers_.size()); }
bool isEmpty() const { return transfers_.empty(); }
};