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Transfer receiver
This commit is contained in:
Pavel Kirienko
parent
12111e63d4
commit
b2adf25485
@ -0,0 +1,86 @@
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/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <uavcan/internal/transport/transfer.hpp>
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#include <uavcan/internal/transport/transfer_buffer.hpp>
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namespace uavcan
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{
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class TransferReceiver
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{
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public:
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enum ResultCode { RESULT_NOT_COMPLETE, RESULT_COMPLETE, RESULT_SINGLE_FRAME };
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static const uint64_t DEFAULT_TRANSFER_INTERVAL = 500 * 1000;
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static const uint64_t MIN_TRANSFER_INTERVAL = 1 * 1000;
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static const uint64_t MAX_TRANSFER_INTERVAL = 10 * 1000 * 1000;
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private:
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enum TidRelation { TID_SAME, TID_REPEAT, TID_FUTURE };
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enum { IFACE_INDEX_NOTSET = 0xFF };
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uint64_t prev_transfer_timestamp_;
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uint64_t this_transfer_timestamp_;
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uint64_t transfer_interval_;
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ITransferBufferManager* bufmgr_;
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TransferID tid_;
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uint8_t node_id_;
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uint8_t iface_index_;
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uint8_t next_frame_index_;
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bool isInitialized() const { return iface_index_ != IFACE_INDEX_NOTSET; }
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TidRelation getTidRelation(const RxFrame& frame) const;
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void updateTransferTimings();
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void prepareForNextTransfer();
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bool validate(const RxFrame& frame) const;
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ResultCode receive(const RxFrame& frame);
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public:
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TransferReceiver()
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: prev_transfer_timestamp_(0)
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, this_transfer_timestamp_(0)
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, transfer_interval_(DEFAULT_TRANSFER_INTERVAL)
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, bufmgr_(NULL)
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, node_id_(NODE_ID_INVALID)
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, iface_index_(IFACE_INDEX_NOTSET)
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, next_frame_index_(0)
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{ }
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TransferReceiver(ITransferBufferManager* bufmgr, uint8_t node_id)
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: prev_transfer_timestamp_(0)
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, this_transfer_timestamp_(0)
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, transfer_interval_(DEFAULT_TRANSFER_INTERVAL)
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, bufmgr_(bufmgr)
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, node_id_(node_id)
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, iface_index_(IFACE_INDEX_NOTSET)
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, next_frame_index_(0)
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{
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assert(bufmgr);
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assert(node_id <= NODE_ID_MAX);
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assert(node_id != NODE_ID_INVALID);
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assert(node_id != NODE_ID_BROADCAST);
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}
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~TransferReceiver()
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{
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if (bufmgr_ != NULL && node_id_ != NODE_ID_INVALID)
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bufmgr_->remove(node_id_);
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}
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bool isTimedOut(uint64_t timestamp) const;
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ResultCode addFrame(const RxFrame& frame);
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uint64_t getLastTransferTimestamp() const { return prev_transfer_timestamp_; }
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uint64_t getInterval() const { return transfer_interval_; }
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};
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}
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188
libuavcan/src/transport/transfer_receiver.cpp
Normal file
188
libuavcan/src/transport/transfer_receiver.cpp
Normal file
@ -0,0 +1,188 @@
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/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include <cstdlib>
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#include <cstdio>
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#include <cassert>
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#include <algorithm>
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#include <uavcan/internal/debug.hpp>
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#include <uavcan/internal/transport/transfer_receiver.hpp>
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namespace uavcan
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{
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const uint64_t TransferReceiver::DEFAULT_TRANSFER_INTERVAL;
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const uint64_t TransferReceiver::MIN_TRANSFER_INTERVAL;
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const uint64_t TransferReceiver::MAX_TRANSFER_INTERVAL;
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TransferReceiver::TidRelation TransferReceiver::getTidRelation(const RxFrame& frame) const
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{
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const int distance = tid_.forwardDistance(frame.transfer_id);
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if (distance == 0)
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return TID_SAME;
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if (distance < ((1 << TransferID::BITLEN) / 2))
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return TID_FUTURE;
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return TID_REPEAT;
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}
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void TransferReceiver::updateTransferTimings()
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{
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assert(this_transfer_timestamp_ > 0);
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const uint64_t prev_prev_ts = prev_transfer_timestamp_;
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prev_transfer_timestamp_ = this_transfer_timestamp_;
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if ((prev_prev_ts != 0) &&
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(prev_transfer_timestamp_ != 0) &&
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(prev_transfer_timestamp_ >= prev_prev_ts))
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{
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uint64_t interval = prev_transfer_timestamp_ - prev_prev_ts;
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interval = std::max(std::min(interval, MAX_TRANSFER_INTERVAL), MIN_TRANSFER_INTERVAL);
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transfer_interval_ = (transfer_interval_ * 7 + interval) / 8;
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}
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}
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void TransferReceiver::prepareForNextTransfer()
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{
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tid_.increment();
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next_frame_index_ = 0;
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}
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bool TransferReceiver::validate(const RxFrame& frame) const
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{
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if (iface_index_ != frame.iface_index)
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return false;
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if (frame.source_node_id == 0)
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{
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UAVCAN_TRACE("TransferReceiver", "Invalid frame NID, %s", frame.toString().c_str());
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return false;
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}
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if (frame.frame_index != next_frame_index_)
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{
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UAVCAN_TRACE("TransferReceiver", "Unexpected frame index, %s", frame.toString().c_str());
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return false;
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}
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if (!frame.last_frame && frame.payload_len != Frame::PAYLOAD_LEN_MAX)
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{
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UAVCAN_TRACE("TransferReceiver", "Unexpected payload len, %s", frame.toString().c_str());
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return false;
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}
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if (!frame.last_frame && frame.frame_index == Frame::FRAME_INDEX_MAX)
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{
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UAVCAN_TRACE("TransferReceiver", "Expected end of transfer, %s", frame.toString().c_str());
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return false;
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}
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if (getTidRelation(frame) != TID_SAME)
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{
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UAVCAN_TRACE("TransferReceiver", "Unexpected TID, %s", frame.toString().c_str());
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return false;
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}
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return true;
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}
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TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame)
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{
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if (frame.frame_index == 0)
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this_transfer_timestamp_ = frame.timestamp;
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if ((frame.frame_index == 0) && frame.last_frame) // Single-frame transfer
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{
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bufmgr_->remove(node_id_);
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updateTransferTimings();
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prepareForNextTransfer();
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return RESULT_SINGLE_FRAME;
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}
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TransferBufferBase* buf = bufmgr_->access(node_id_);
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if (buf == NULL)
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buf = bufmgr_->create(node_id_);
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if (buf == NULL)
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{
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UAVCAN_TRACE("TransferReceiver", "Failed to access the buffer, %s", frame.toString().c_str());
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prepareForNextTransfer();
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return RESULT_NOT_COMPLETE;
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}
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const int res = buf->write(Frame::PAYLOAD_LEN_MAX * frame.frame_index, frame.payload, frame.payload_len);
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if (res != frame.payload_len)
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{
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UAVCAN_TRACE("TransferReceiver", "Buffer write failure [%i], %s", res, frame.toString().c_str());
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bufmgr_->remove(node_id_);
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prepareForNextTransfer();
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return RESULT_NOT_COMPLETE;
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}
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next_frame_index_++;
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if (frame.last_frame)
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{
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updateTransferTimings();
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prepareForNextTransfer();
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return RESULT_COMPLETE;
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}
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return RESULT_NOT_COMPLETE;
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}
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bool TransferReceiver::isTimedOut(uint64_t timestamp) const
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{
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static const int INTERVAL_MULT = (1 << TransferID::BITLEN) / 2 - 1;
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const uint64_t ts = this_transfer_timestamp_;
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if (timestamp <= ts)
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return false;
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return (timestamp - ts) > (transfer_interval_ * INTERVAL_MULT);
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}
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TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame)
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{
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assert(bufmgr_);
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assert(node_id_ == frame.source_node_id);
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if ((frame.timestamp == 0) ||
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(frame.timestamp < prev_transfer_timestamp_) ||
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(frame.timestamp < this_transfer_timestamp_))
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{
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return RESULT_NOT_COMPLETE;
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}
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const bool not_initialized = !isInitialized();
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const bool iface_timed_out = (frame.timestamp - this_transfer_timestamp_) > (transfer_interval_ * 2);
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const bool receiver_timed_out = isTimedOut(frame.timestamp);
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const bool same_iface = frame.iface_index == iface_index_;
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const bool first_fame = frame.frame_index == 0;
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const TidRelation tid_rel = getTidRelation(frame);
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const bool need_restart = // FSM, the hard way
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(not_initialized) ||
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(receiver_timed_out && first_fame) ||
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(same_iface && first_fame && (tid_rel == TID_FUTURE)) ||
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(iface_timed_out && first_fame && (tid_rel == TID_FUTURE || tid_rel == TID_SAME));
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if (need_restart)
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{
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UAVCAN_TRACE("TransferReceiver",
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"Restart [not_inited=%i, iface_timeout=%i, recv_timeout=%i, same_iface=%i, first_frame=%i, tid_rel=%i], %s",
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int(not_initialized), int(iface_timed_out), int(receiver_timed_out), int(same_iface), int(first_fame),
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int(tid_rel), frame.toString().c_str());
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bufmgr_->remove(node_id_);
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iface_index_ = frame.iface_index;
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tid_ = frame.transfer_id;
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next_frame_index_ = 0;
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if (!first_fame)
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{
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tid_.increment();
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return RESULT_NOT_COMPLETE;
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}
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}
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if (!validate(frame))
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return RESULT_NOT_COMPLETE;
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return receive(frame);
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}
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}
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305
libuavcan/test/transport/transfer_receiver.cpp
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305
libuavcan/test/transport/transfer_receiver.cpp
Normal file
@ -0,0 +1,305 @@
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/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include <algorithm>
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#include <gtest/gtest.h>
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#include <memory>
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#include <stdexcept>
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#include <uavcan/internal/transport/transfer_receiver.hpp>
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struct RxFrameGenerator
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{
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static const uint8_t DEFAULT_NODE_ID = 42;
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uint16_t data_type_id;
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uavcan::TransferType ttype;
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uint8_t source_node_id;
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RxFrameGenerator(uint16_t data_type_id, uavcan::TransferType ttype, uint8_t source_node_id = DEFAULT_NODE_ID)
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: data_type_id(data_type_id)
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, ttype(ttype)
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, source_node_id(source_node_id)
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{ }
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uavcan::RxFrame operator()(int iface_index, const std::string& data, uint8_t frame_index, bool last,
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uint8_t transfer_id, uint64_t timestamp)
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{
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if (data.length() > uavcan::Frame::PAYLOAD_LEN_MAX)
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{
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std::cerr << "RxFrameGenerator(): Data is too long" << std::endl;
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std::exit(1);
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}
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uavcan::RxFrame frm;
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frm.iface_index = iface_index;
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frm.timestamp = timestamp;
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frm.data_type_id = data_type_id;
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frm.frame_index = frame_index;
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frm.last_frame = last;
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std::copy(data.begin(), data.end(), frm.payload);
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frm.payload_len = data.length();
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frm.source_node_id = source_node_id;
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frm.transfer_id = uavcan::TransferID(transfer_id);
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frm.transfer_type = ttype;
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return frm;
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}
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};
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template <unsigned int BUFSIZE>
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struct Context
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{
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uavcan::PoolManager<1> poolmgr; // We don't need dynamic memory for this test
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uavcan::TransferReceiver receiver; // Must be default constructible and copyable
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uavcan::TransferBufferManager<BUFSIZE, 1> bufmgr;
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Context()
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: bufmgr(&poolmgr)
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{
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assert(poolmgr.allocate(1) == NULL);
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receiver = uavcan::TransferReceiver(&bufmgr, RxFrameGenerator::DEFAULT_NODE_ID);
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}
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~Context()
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{
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// We need to destroy the receiver before its buffer manager
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receiver = uavcan::TransferReceiver();
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}
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};
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static bool matchBufferContent(const uavcan::TransferBufferBase* tbb, const std::string& content)
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{
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uint8_t data[1024];
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std::fill(data, data + sizeof(data), 0);
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if (content.length() > sizeof(data))
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{
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std::cerr << "matchBufferContent(): Content is too long" << std::endl;
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std::exit(1);
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}
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tbb->read(0, data, content.length());
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if (std::equal(content.begin(), content.end(), data))
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return true;
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std::cout << "Buffer content mismatch:"
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<< "\n\tExpected: " << content
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<< "\n\tActually: " << reinterpret_cast<const char*>(data)
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<< std::endl;
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return false;
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}
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#define CHECK_NOT_COMPLETE(x) ASSERT_EQ(uavcan::TransferReceiver::RESULT_NOT_COMPLETE, (x))
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#define CHECK_COMPLETE(x) ASSERT_EQ(uavcan::TransferReceiver::RESULT_COMPLETE, (x))
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#define CHECK_SINGLE_FRAME(x) ASSERT_EQ(uavcan::TransferReceiver::RESULT_SINGLE_FRAME, (x))
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TEST(TransferReceiver, Basic)
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{
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using uavcan::TransferReceiver;
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Context<32> context;
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RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
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uavcan::TransferReceiver& rcv = context.receiver;
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uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
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/*
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* Empty
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*/
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ASSERT_EQ(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
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ASSERT_EQ(0, rcv.getLastTransferTimestamp());
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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)));
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ASSERT_EQ(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
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ASSERT_EQ(0, rcv.getLastTransferTimestamp());
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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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*/
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 0, 100)));
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CHECK_COMPLETE(rcv.addFrame(gen(0, "foo", 1, true, 0, 200)));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.source_node_id), "12345678foo"));
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ASSERT_EQ(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval()); // Not initialized yet
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ASSERT_EQ(100, rcv.getLastTransferTimestamp());
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/*
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* Compound transfer mixed with invalid frames; buffer was not released explicitly
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*/
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, false, 0, 300))); // Previous TID, rejected
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "rty", 0, false, 0, 300))); // Previous TID, wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 1, 1000)));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", 0, false, 1, 1100))); // Old FI
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "abcdefgh", 1, false, 1, 1200)));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "45678910", 1, false, 2, 1300))); // Next TID, but FI > 0
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 2, true, 1, 1300))); // Wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 31,true, 1, 1300))); // Unexpected FI
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CHECK_COMPLETE( rcv.addFrame(gen(0, "", 2, true, 1, 1300)));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.source_node_id), "12345678abcdefgh"));
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ASSERT_GT(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
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ASSERT_LT(TransferReceiver::MIN_TRANSFER_INTERVAL, rcv.getInterval());
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ASSERT_EQ(1000, rcv.getLastTransferTimestamp());
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ASSERT_FALSE(rcv.isTimedOut(1000));
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ASSERT_FALSE(rcv.isTimedOut(5000));
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ASSERT_TRUE(rcv.isTimedOut(60000000));
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/*
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* Single-frame transfers
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*/
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, true, 1, 2000))); // Previous TID
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 2, 2100))); // Wrong iface
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 2, 2200)));
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ASSERT_FALSE(bufmgr.access(RxFrameGenerator::DEFAULT_NODE_ID)); // Buffer must be removed
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ASSERT_GT(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
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ASSERT_EQ(2200, rcv.getLastTransferTimestamp());
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", 0, true, 3, 2500)));
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ASSERT_EQ(2500, rcv.getLastTransferTimestamp());
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 0, 3000))); // Old TID
|
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 15,3100))); // Old TID
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 3, 3200))); // Old TID
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 0, 3300))); // Old TID, wrong iface
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 15,3400))); // Old TID, wrong iface
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 3, 3500))); // Old TID, wrong iface
|
||||
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", 0, true, 8, 3600)));
|
||||
ASSERT_EQ(3600, rcv.getLastTransferTimestamp());
|
||||
|
||||
/*
|
||||
* Timeouts
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 9, 100000))); // Wrong iface - ignored
|
||||
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 9, 600000))); // Accepted due to iface timeout
|
||||
ASSERT_EQ(600000, rcv.getLastTransferTimestamp());
|
||||
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, true, 10, 600100)));// Ignored - old iface 0
|
||||
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 10, 600100)));
|
||||
ASSERT_EQ(600100, rcv.getLastTransferTimestamp());
|
||||
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 10, 600100)));// Old TID
|
||||
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 10, 100000000)));
|
||||
ASSERT_EQ(100000000, rcv.getLastTransferTimestamp());
|
||||
|
||||
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 11, 100000100)));
|
||||
ASSERT_EQ(100000100, rcv.getLastTransferTimestamp());
|
||||
|
||||
ASSERT_TRUE(rcv.isTimedOut(900000000));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 11, 900000000)));// Global timeout
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 11, 900000100)));// Wrong iface
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 1, true, 11, 900000200)));// Wrong iface
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", 1, true, 11, 900000200)));
|
||||
ASSERT_EQ(900000000, rcv.getLastTransferTimestamp());
|
||||
ASSERT_FALSE(rcv.isTimedOut(1000));
|
||||
ASSERT_FALSE(rcv.isTimedOut(900000200));
|
||||
ASSERT_TRUE(rcv.isTimedOut(1000 * 1000000));
|
||||
ASSERT_LT(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
|
||||
ASSERT_LE(TransferReceiver::MIN_TRANSFER_INTERVAL, rcv.getInterval());
|
||||
ASSERT_GE(TransferReceiver::MAX_TRANSFER_INTERVAL, rcv.getInterval());
|
||||
}
|
||||
|
||||
|
||||
TEST(TransferReceiver, OutOfBufferSpace_32bytes)
|
||||
{
|
||||
Context<32> context;
|
||||
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
|
||||
uavcan::TransferReceiver& rcv = context.receiver;
|
||||
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
|
||||
|
||||
/*
|
||||
* Simple transfer, maximum buffer length
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 10, 100000000))); // 8
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 10, 100000100))); // 16
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 10, 100000200))); // 24
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 10, 100000300))); // 32
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "", 4, true, 10, 100000400))); // 32
|
||||
|
||||
ASSERT_EQ(100000000, rcv.getLastTransferTimestamp());
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.source_node_id), "12345678123456781234567812345678"));
|
||||
|
||||
/*
|
||||
* Transfer longer than available buffer space
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 11, 100001000))); // 8
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 11, 100001100))); // 16
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 11, 100001200))); // 24
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 11, 100001200))); // 32
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 4, true, 11, 100001300))); // 40 // EOT, ignored - lost sync
|
||||
|
||||
ASSERT_EQ(100000000, rcv.getLastTransferTimestamp());
|
||||
ASSERT_FALSE(bufmgr.access(gen.source_node_id)); // Buffer should be removed
|
||||
}
|
||||
|
||||
|
||||
TEST(TransferReceiver, UnterminatedTransfer)
|
||||
{
|
||||
Context<256> context;
|
||||
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
|
||||
uavcan::TransferReceiver& rcv = context.receiver;
|
||||
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
|
||||
|
||||
std::string content;
|
||||
for (int i = 0; i <= uavcan::Frame::FRAME_INDEX_MAX; i++)
|
||||
{
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", i, false, 0, 1000 + i))); // Last one will be dropped
|
||||
content += "12345678";
|
||||
}
|
||||
CHECK_COMPLETE(rcv.addFrame(gen(1, "12345678", uavcan::Frame::FRAME_INDEX_MAX, true, 0, 1100)));
|
||||
ASSERT_EQ(1000, rcv.getLastTransferTimestamp());
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.source_node_id), content));
|
||||
}
|
||||
|
||||
|
||||
TEST(TransferReceiver, OutOfOrderFrames)
|
||||
{
|
||||
Context<32> context;
|
||||
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
|
||||
uavcan::TransferReceiver& rcv = context.receiver;
|
||||
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
|
||||
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 10, 100000000)));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 3, false, 10, 100000100))); // Out of order
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 2, true, 10, 100000200))); // Out of order
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 10, 100000300)));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 4, true, 10, 100000200))); // Out of order
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 10, 100000400)));
|
||||
|
||||
ASSERT_EQ(100000000, rcv.getLastTransferTimestamp());
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.source_node_id), "12345678qwertyuiabcd"));
|
||||
}
|
||||
|
||||
|
||||
TEST(TransferReceiver, IntervalMeasurement)
|
||||
{
|
||||
Context<32> context;
|
||||
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
|
||||
uavcan::TransferReceiver& rcv = context.receiver;
|
||||
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
|
||||
|
||||
static const int INTERVAL = 1000;
|
||||
uavcan::TransferID tid;
|
||||
uint64_t timestamp = 100000000;
|
||||
|
||||
for (int i = 0; i < 1000; i++)
|
||||
{
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, tid.get(), timestamp)));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, tid.get(), timestamp)));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, tid.get(), timestamp)));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.source_node_id), "12345678qwertyuiabcd"));
|
||||
ASSERT_EQ(timestamp, rcv.getLastTransferTimestamp());
|
||||
|
||||
timestamp += INTERVAL;
|
||||
tid.increment();
|
||||
}
|
||||
|
||||
ASSERT_EQ(INTERVAL, rcv.getInterval());
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user