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First step in changing the CAN frame format - introduced various transfer lengths per transfer type

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This commit is contained in:
Pavel Kirienko 2015-04-28 11:27:01 +03:00
parent 1b75c48783
commit c159f9f7df
7 changed files with 44 additions and 14 deletions
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2
libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/data_type_template.tmpl
View File

@ -94,7 +94,7 @@ struct UAVCAN_EXPORT ${t.cpp_type_name}
% endfor
{
enum { MaxByteLen = ::uavcan::BitLenToByteLen<MaxBitLen>::Result };
::uavcan::StaticAssert<int(MaxByteLen) <= int(::uavcan::MaxTransferPayloadLen)>::check();
::uavcan::StaticAssert<int(MaxByteLen) <= int(::uavcan::MaxPossibleTransferPayloadLen)>::check();
::uavcan::StaticAssert<_tmpl == 0>::check(); // Usage check

2
libuavcan/include/uavcan/node/generic_subscriber.hpp
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@ -124,7 +124,7 @@ template <typename DataStruct_,
class UAVCAN_EXPORT TransferListenerInstantiationHelper
{
enum { DataTypeMaxByteLen = BitLenToByteLen<DataStruct_::MaxBitLen>::Result };
enum { NeedsBuffer = int(DataTypeMaxByteLen) > int(MaxSingleFrameTransferPayloadLen) };
enum { NeedsBuffer = int(DataTypeMaxByteLen) > int(GuaranteedPayloadLenPerFrame) };
enum { BufferSize = NeedsBuffer ? DataTypeMaxByteLen : 0 };
#if UAVCAN_TINY
enum { NumStaticBufs = 0 };

2
libuavcan/include/uavcan/node/marshal_buffer.hpp
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@ -46,7 +46,7 @@ public:
* This implementation provides the buffer large enough to
* serialize any UAVCAN data structure.
*/
template <unsigned MaxSize_ = MaxTransferPayloadLen>
template <unsigned MaxSize_ = MaxPossibleTransferPayloadLen>
class UAVCAN_EXPORT MarshalBufferProvider : public IMarshalBufferProvider
{
class Buffer : public IMarshalBuffer

2
libuavcan/include/uavcan/node/node.hpp
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@ -60,7 +60,7 @@ template <std::size_t MemPoolSize_,
unsigned OutgoingTransferMaxPayloadLen = 264
#else
unsigned OutgoingTransferRegistryStaticEntries = 10,
unsigned OutgoingTransferMaxPayloadLen = MaxTransferPayloadLen
unsigned OutgoingTransferMaxPayloadLen = MaxPossibleTransferPayloadLen
#endif
>
class UAVCAN_EXPORT Node : public INode

31
libuavcan/include/uavcan/transport/transfer.hpp
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@ -11,10 +11,16 @@
namespace uavcan
{
/**
* Refer to the UAVCAN specification for more info about transfers.
*/
static const unsigned MaxMessageBroadcastTransferPayloadLen = 126; ///< 16 frames, 8 bytes per frame, 2 byte CRC
static const unsigned MaxMessageUnicastTransferPayloadLen = 110; ///< 16 frames, 7 bytes per frame, 2 byte CRC
static const unsigned MaxServiceTransferPayloadLen = 439; ///< 63 frames, 7 bytes per frame, 2 byte CRC
static const unsigned MaxTransferPayloadLen = 439; ///< According to the specification.
static const unsigned GuaranteedPayloadLenPerFrame = 7; ///< Guaranteed for all transfers, all CAN standards
static const unsigned MaxSingleFrameTransferPayloadLen = 7;
static const unsigned MaxPossibleTransferPayloadLen = MaxServiceTransferPayloadLen;
enum TransferType
{
@ -26,6 +32,27 @@ enum TransferType
};
static inline unsigned getMaxPayloadLenForTransferType(const TransferType type)
{
static const unsigned lens[NumTransferTypes] =
{
MaxServiceTransferPayloadLen,
MaxServiceTransferPayloadLen,
MaxMessageBroadcastTransferPayloadLen,
MaxMessageUnicastTransferPayloadLen
};
if (static_cast<int>(type) < NumTransferTypes)
{
return lens[static_cast<int>(type)];
}
else
{
UAVCAN_ASSERT(0);
return 0;
}
}
class UAVCAN_EXPORT TransferID
{
uint8_t value_;

2
libuavcan/src/transport/uc_transfer_sender.cpp
View File

@ -19,7 +19,7 @@ int TransferSender::send(const uint8_t* payload, unsigned payload_len, Monotonic
MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id,
TransferID tid)
{
if (payload_len > MaxTransferPayloadLen)
if (payload_len > getMaxPayloadLenForTransferType(transfer_type))
{
UAVCAN_ASSERT(0);
return -ErrInvalidParam;

17
libuavcan/test/transport/transfer_listener.cpp
View File

@ -225,21 +225,24 @@ TEST(TransferListener, MaximumTransferLength)
uavcan::PoolManager<1> poolmgr;
uavcan::TransferPerfCounter perf;
TestListener<uavcan::MaxTransferPayloadLen * 2, 2, 2> subscriber(perf, type, poolmgr);
static const std::string DATA_OK(uavcan::MaxTransferPayloadLen, 'z');
TestListener<uavcan::MaxPossibleTransferPayloadLen * 2, 3, 3> subscriber(perf, type, poolmgr);
TransferListenerEmulator emulator(subscriber, type);
const Transfer transfers[] =
{
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 1, DATA_OK),
emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 1, DATA_OK)
emulator.makeTransfer(uavcan::TransferTypeServiceRequest, 1,
std::string(uavcan::MaxServiceTransferPayloadLen, 'z')), // Longer
emulator.makeTransfer(uavcan::TransferTypeMessageUnicast, 2,
std::string(uavcan::MaxMessageUnicastTransferPayloadLen, 'z')), // Shorter
emulator.makeTransfer(uavcan::TransferTypeMessageBroadcast, 3,
std::string(uavcan::MaxMessageBroadcastTransferPayloadLen, 'z')) // Same as above
};
emulator.send(transfers);
ASSERT_TRUE(subscriber.matchAndPop(transfers[1])); // Broadcast is shorter, so will complete first
ASSERT_TRUE(subscriber.matchAndPop(transfers[0]));
ASSERT_TRUE(subscriber.matchAndPop(transfers[1]));
ASSERT_TRUE(subscriber.matchAndPop(transfers[2]));
ASSERT_TRUE(subscriber.matchAndPop(transfers[0])); // Service takes more frames
ASSERT_TRUE(subscriber.isEmpty());
}