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Integrated DataTypeSignature; hash removed

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This commit is contained in:
Pavel Kirienko 2014-02-26 19:13:35 +04:00
parent 057574b2ec
commit c46beca304
9 changed files with 25 additions and 67 deletions
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32
libuavcan/include/uavcan/internal/data_type.hpp
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@ -85,50 +85,28 @@ public:
};
struct DataTypeHash
{
enum { NumBytes = 16 };
uint8_t value[NumBytes];
DataTypeHash()
{
std::fill(value, value + NumBytes, 0);
}
DataTypeHash(const uint8_t source[NumBytes])
{
std::copy(source, source + NumBytes, value);
}
bool operator!=(const DataTypeHash& rhs) const { return !operator==(rhs); }
bool operator==(const DataTypeHash& rhs) const
{
return std::equal(value, value + NumBytes, rhs.value);
}
};
struct DataTypeDescriptor
{
DataTypeKind kind;
uint16_t id;
DataTypeHash hash;
DataTypeSignature signature;
DataTypeDescriptor()
: kind(DataTypeKind(0))
, id(0)
, signature(DataTypeSignature::zero())
{ }
DataTypeDescriptor(DataTypeKind kind, uint16_t id, const DataTypeHash& hash)
DataTypeDescriptor(DataTypeKind kind, uint16_t id, const DataTypeSignature& signature)
: kind(kind)
, id(id)
, hash(hash)
, signature(signature)
{ }
bool operator!=(const DataTypeDescriptor& rhs) const { return !operator==(rhs); }
bool operator==(const DataTypeDescriptor& rhs) const
{
return (kind == rhs.kind) && (id == rhs.id) && (hash == rhs.hash);
return (kind == rhs.kind) && (id == rhs.id) && (signature == rhs.signature);
}
};

6
libuavcan/include/uavcan/internal/transport/crc.hpp
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@ -35,12 +35,6 @@ public:
: value_(0xFFFF)
{ }
TransferCRC(const uint8_t* bytes, unsigned int len)
: value_(0xFFFF)
{
add(bytes, len);
}
void add(uint8_t byte)
{
value_ = ((value_ << 8) ^ Table[((value_ >> 8) ^ byte) & 0xFF]) & 0xFFFF;

2
libuavcan/include/uavcan/internal/transport/transfer_listener.hpp
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@ -95,7 +95,7 @@ class TransferListenerBase : public LinkedListNode<TransferListenerBase>
protected:
TransferListenerBase(const DataTypeDescriptor& data_type)
: data_type_(data_type)
, crc_base_(data_type.hash.value, DataTypeHash::NumBytes)
, crc_base_(data_type.signature.toTransferCRC())
{ }
virtual ~TransferListenerBase() { }

2
libuavcan/include/uavcan/internal/transport/transfer_sender.hpp
View File

@ -31,7 +31,7 @@ public:
: max_transfer_interval_(max_transfer_interval)
, data_type_(data_type)
, qos_(qos)
, crc_base_(data_type.hash.value, DataTypeHash::NumBytes)
, crc_base_(data_type.signature.toTransferCRC())
, dispatcher_(dispatcher)
{ }

8
libuavcan/test/data_type.cpp
View File

@ -82,4 +82,12 @@ TEST(DataTypeSignature, Correctness)
crc.add((old_signature >> i) & 0xFF);
ASSERT_EQ(crc.get(), signature.get());
/*
* Comparison
*/
ASSERT_TRUE(signature == DataTypeSignature(signature.get()));
ASSERT_FALSE(signature == DataTypeSignature::zero());
ASSERT_FALSE(signature != DataTypeSignature(signature.get()));
ASSERT_TRUE(signature != DataTypeSignature::zero());
}

3
libuavcan/test/transport/crc.cpp
View File

@ -29,7 +29,4 @@ TEST(TransferCRC, Correctness)
crc.add(reinterpret_cast<const uint8_t*>("456789"), 6);
ASSERT_EQ(0x29B1, crc.get());
// Initializing constructor
ASSERT_EQ(crc.get(), uavcan::TransferCRC(reinterpret_cast<const uint8_t*>("123456789"), 9).get());
}

20
libuavcan/test/transport/transfer_listener.cpp
View File

@ -30,9 +30,7 @@ public:
TEST(TransferListener, BasicMFT)
{
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeHash());
for (int i = 0; i < uavcan::DataTypeHash::NumBytes; i++)
type.hash.value[i] = i | (i << 4);
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
static const int NUM_POOL_BLOCKS = 12; // This number is just enough to pass the test
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * NUM_POOL_BLOCKS, uavcan::MemPoolBlockSize> pool;
@ -87,9 +85,7 @@ TEST(TransferListener, BasicMFT)
TEST(TransferListener, CrcFailure)
{
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeHash());
for (int i = 0; i < uavcan::DataTypeHash::NumBytes; i++)
type.hash.value[i] = i | (i << 4);
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
uavcan::PoolManager<1> poolmgr; // No dynamic memory
TestSubscriber<256, 2, 2> subscriber(type, poolmgr); // Static buffer only, 2 entries
@ -132,9 +128,7 @@ TEST(TransferListener, CrcFailure)
TEST(TransferListener, BasicSFT)
{
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeHash());
for (int i = 0; i < uavcan::DataTypeHash::NumBytes; i++)
type.hash.value[i] = i | (i << 4);
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
uavcan::PoolManager<1> poolmgr; // No dynamic memory. At all.
TestSubscriber<0, 0, 5> subscriber(type, poolmgr); // Max buf size is 0, i.e. SFT-only
@ -169,9 +163,7 @@ TEST(TransferListener, BasicSFT)
TEST(TransferListener, Cleanup)
{
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeHash());
for (int i = 0; i < uavcan::DataTypeHash::NumBytes; i++)
type.hash.value[i] = i | (i << 4);
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
uavcan::PoolManager<1> poolmgr; // No dynamic memory
TestSubscriber<256, 1, 2> subscriber(type, poolmgr); // Static buffer only, 1 entry
@ -225,9 +217,7 @@ TEST(TransferListener, Cleanup)
TEST(TransferListener, MaximumTransferLength)
{
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeHash());
for (int i = 0; i < uavcan::DataTypeHash::NumBytes; i++)
type.hash.value[i] = i | (i << 4);
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
uavcan::PoolManager<1> poolmgr;
TestSubscriber<uavcan::MaxTransferPayloadLen * 2, 2, 2> subscriber(type, poolmgr);

8
libuavcan/test/transport/transfer_test_helpers.cpp
View File

@ -32,9 +32,7 @@ TEST(TransferTestHelpers, Transfer)
TEST(TransferTestHelpers, MFTSerialization)
{
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeHash());
for (int i = 0; i < uavcan::DataTypeHash::NumBytes; i++)
type.hash.value[i] = i;
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
static const std::string DATA = "To go wrong in one's own way is better than to go right in someone else's.";
const Transfer transfer(1, 100000, uavcan::TransferTypeMessageUnicast, 2, 42, 127, DATA, type);
@ -63,9 +61,7 @@ TEST(TransferTestHelpers, MFTSerialization)
TEST(TransferTestHelpers, SFTSerialization)
{
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeHash());
for (int i = 0; i < uavcan::DataTypeHash::NumBytes; i++)
type.hash.value[i] = i;
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
{
const Transfer transfer(1, 100000, uavcan::TransferTypeMessageBroadcast, 7, 42, 0, "Nvrfrget", type);

11
libuavcan/test/transport/transfer_test_helpers.hpp
View File

@ -165,7 +165,7 @@ std::vector<uavcan::RxFrame> serializeTransfer(const Transfer& transfer)
std::vector<uint8_t> raw_payload;
if (need_crc)
{
uavcan::TransferCRC payload_crc(transfer.data_type.hash.value, uavcan::DataTypeHash::NumBytes);
uavcan::TransferCRC payload_crc = transfer.data_type.signature.toTransferCRC();
payload_crc.add(reinterpret_cast<const uint8_t*>(transfer.payload.c_str()), transfer.payload.length());
// Little endian
raw_payload.push_back(payload_crc.get() & 0xFF);
@ -212,13 +212,8 @@ std::vector<uavcan::RxFrame> serializeTransfer(const Transfer& transfer)
uavcan::DataTypeDescriptor makeDataType(uavcan::DataTypeKind kind, uint16_t id)
{
uavcan::DataTypeDescriptor dtd(kind, id, uavcan::DataTypeHash());
for (int i = 0; i < uavcan::DataTypeHash::NumBytes; i += 2)
{
dtd.hash.value[i] = id & 0xFF;
dtd.hash.value[i + 1] = id >> 8;
}
return dtd;
const uavcan::DataTypeSignature signature((uint64_t(kind) << 16) | (id << 8) | (id & 0xFF));
return uavcan::DataTypeDescriptor(kind, id, signature);
}
}