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Transfer receiver
This commit is contained in:
Pavel Kirienko
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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
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 3, 3200))); // Old TID
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 0, 3300))); // Old TID, wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 15,3400))); // Old TID, wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 3, 3500))); // Old TID, wrong iface
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", 0, true, 8, 3600)));
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ASSERT_EQ(3600, rcv.getLastTransferTimestamp());
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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, 9, 100000))); // Wrong iface - ignored
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 9, 600000))); // Accepted due to iface timeout
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ASSERT_EQ(600000, rcv.getLastTransferTimestamp());
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, true, 10, 600100)));// Ignored - old iface 0
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 10, 600100)));
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ASSERT_EQ(600100, rcv.getLastTransferTimestamp());
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 10, 600100)));// Old TID
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 10, 100000000)));
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ASSERT_EQ(100000000, rcv.getLastTransferTimestamp());
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CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 11, 100000100)));
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ASSERT_EQ(100000100, rcv.getLastTransferTimestamp());
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ASSERT_TRUE(rcv.isTimedOut(900000000));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 11, 900000000)));// Global timeout
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 11, 900000100)));// Wrong iface
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 1, true, 11, 900000200)));// Wrong iface
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CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", 1, true, 11, 900000200)));
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ASSERT_EQ(900000000, rcv.getLastTransferTimestamp());
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ASSERT_FALSE(rcv.isTimedOut(1000));
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ASSERT_FALSE(rcv.isTimedOut(900000200));
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ASSERT_TRUE(rcv.isTimedOut(1000 * 1000000));
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ASSERT_LT(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
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ASSERT_LE(TransferReceiver::MIN_TRANSFER_INTERVAL, rcv.getInterval());
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ASSERT_GE(TransferReceiver::MAX_TRANSFER_INTERVAL, rcv.getInterval());
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}
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TEST(TransferReceiver, OutOfBufferSpace_32bytes)
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{
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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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* Simple transfer, maximum buffer length
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*/
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 10, 100000000))); // 8
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 10, 100000100))); // 16
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 10, 100000200))); // 24
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 10, 100000300))); // 32
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CHECK_COMPLETE( rcv.addFrame(gen(1, "", 4, true, 10, 100000400))); // 32
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ASSERT_EQ(100000000, rcv.getLastTransferTimestamp());
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.source_node_id), "12345678123456781234567812345678"));
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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, 11, 100001000))); // 8
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 11, 100001100))); // 16
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 11, 100001200))); // 24
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 11, 100001200))); // 32
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 4, true, 11, 100001300))); // 40 // EOT, ignored - lost sync
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ASSERT_EQ(100000000, rcv.getLastTransferTimestamp());
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ASSERT_FALSE(bufmgr.access(gen.source_node_id)); // Buffer should be removed
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}
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TEST(TransferReceiver, UnterminatedTransfer)
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{
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Context<256> 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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std::string content;
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for (int i = 0; i <= uavcan::Frame::FRAME_INDEX_MAX; i++)
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{
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", i, false, 0, 1000 + i))); // 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", uavcan::Frame::FRAME_INDEX_MAX, true, 0, 1100)));
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ASSERT_EQ(1000, rcv.getLastTransferTimestamp());
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.source_node_id), content));
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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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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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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 10, 100000000)));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 3, false, 10, 100000100))); // Out of order
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 2, true, 10, 100000200))); // Out of order
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 10, 100000300)));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 4, true, 10, 100000200))); // Out of order
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CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 10, 100000400)));
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ASSERT_EQ(100000000, rcv.getLastTransferTimestamp());
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.source_node_id), "12345678qwertyuiabcd"));
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}
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TEST(TransferReceiver, IntervalMeasurement)
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{
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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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static const int INTERVAL = 1000;
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uavcan::TransferID tid;
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uint64_t timestamp = 100000000;
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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)));
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CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, tid.get(), timestamp)));
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CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, tid.get(), timestamp)));
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ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.source_node_id), "12345678qwertyuiabcd"));
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ASSERT_EQ(timestamp, rcv.getLastTransferTimestamp());
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timestamp += INTERVAL;
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tid.increment();
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}
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ASSERT_EQ(INTERVAL, rcv.getInterval());
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}
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