mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-29 02:14:08 +08:00
TransferReceiver tests fixed, 17 to go
This commit is contained in:
Pavel Kirienko
parent
19cd458ae6
commit
c56458c73d
@ -67,7 +67,7 @@ public:
|
||||
* Max payload length depends on the transfer type and frame index.
|
||||
*/
|
||||
uint8_t getPayloadCapacity() const { return PayloadCapacity; }
|
||||
int setPayload(const uint8_t* data, unsigned len);
|
||||
uint8_t setPayload(const uint8_t* data, unsigned len);
|
||||
|
||||
unsigned getPayloadLen() const { return payload_len_; }
|
||||
const uint8_t* getPayloadPtr() const { return payload_; }
|
||||
|
||||
@ -13,13 +13,13 @@ namespace uavcan
|
||||
/**
|
||||
* Frame
|
||||
*/
|
||||
int Frame::setPayload(const uint8_t* data, unsigned len)
|
||||
uint8_t Frame::setPayload(const uint8_t* data, unsigned len)
|
||||
{
|
||||
const uint8_t maxlen = getPayloadCapacity();
|
||||
len = min(unsigned(maxlen), len);
|
||||
(void)copy(data, data + len, payload_);
|
||||
payload_len_ = uint_fast8_t(len);
|
||||
return int(len);
|
||||
return static_cast<uint8_t>(len);
|
||||
}
|
||||
|
||||
template <int OFFSET, int WIDTH>
|
||||
|
||||
@ -192,6 +192,7 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, Tr
|
||||
(frame.getMonotonicTimestamp() < prev_transfer_ts_) ||
|
||||
(frame.getMonotonicTimestamp() < this_transfer_ts_))
|
||||
{
|
||||
UAVCAN_TRACE("TransferReceiver", "Invalid frame, %s", frame.toString().c_str());
|
||||
return ResultNotComplete;
|
||||
}
|
||||
|
||||
|
||||
@ -60,8 +60,11 @@ struct RxFrameGenerator
|
||||
EXPECT_EQ(data.length(),
|
||||
frame.setPayload(reinterpret_cast<const uint8_t*>(data.c_str()), unsigned(data.length())));
|
||||
|
||||
return uavcan::RxFrame(frame, uavcan::MonotonicTime::fromUSec(ts_monotonic),
|
||||
uavcan::RxFrame output(frame, uavcan::MonotonicTime::fromUSec(ts_monotonic),
|
||||
uavcan::UtcTime::fromUSec(ts_utc), iface_index);
|
||||
std::cout << "Generated frame: " << output.toString() << std::endl;
|
||||
|
||||
return output;
|
||||
}
|
||||
};
|
||||
|
||||
@ -142,10 +145,10 @@ TEST(TransferReceiver, Basic)
|
||||
* Valid compound transfer
|
||||
* Args: iface_index, data, set, transfer_id, ts_monotonic
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x34\x12" "345678", SET100, 0, 100), bk));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "foo", SET011, 0, 200), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x34\x12" "34567", SET100, 0, 100), bk));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "foo", SET011, 0, 200), bk));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678foo"));
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567foo"));
|
||||
ASSERT_EQ(0x1234, rcv.getLastTransferCrc());
|
||||
ASSERT_EQ(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval()); // Not initialized yet
|
||||
ASSERT_EQ(100, rcv.getLastTransferTimestampMonotonic().toUSec());
|
||||
@ -154,18 +157,18 @@ TEST(TransferReceiver, Basic)
|
||||
* Compound transfer mixed with invalid frames; buffer was not released explicitly
|
||||
* Args: iface_index, data, set, transfer_id, ts_monotonic
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", SET100, 0, 300), bk)); // Previous TID, rejected
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "rty", SET100, 0, 300), bk)); // Previous TID, wrong iface
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x9a\x78" "345678", SET100, 1, 1000), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", SET100, 1, 1100), bk)); // Old toggle
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", SET000, 1, 1100), bk)); // Old toggle
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "abcdefgh", SET001, 1, 1200), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "45678910", SET001, 2, 1300), bk)); // Next TID, but not SOT
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", SET010, 1, 1300), bk)); // Wrong iface
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", SET000, 1, 1300), bk)); // Unexpected toggle
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "", SET010, 1, 1300), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", SET100, 0, 300), bk)); // Previous TID, rejected
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "rty", SET100, 0, 300), bk)); // Previous TID, wrong iface
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x9a\x78" "34567", SET100, 1, 1000), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyu", SET100, 1, 1100), bk)); // Old toggle
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyu", SET000, 1, 1100), bk)); // Old toggle
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "abcdefg", SET001, 1, 1200), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "4567891", SET001, 2, 1300), bk)); // Next TID, but not SOT
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", SET010, 1, 1300), bk)); // Wrong iface
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", SET001, 1, 1300), bk)); // Unexpected toggle
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "", SET010, 1, 1300), bk));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678abcdefgh"));
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567abcdefg"));
|
||||
ASSERT_EQ(0x789A, rcv.getLastTransferCrc());
|
||||
ASSERT_GE(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval());
|
||||
ASSERT_LE(TransferReceiver::getMinTransferInterval(), rcv.getInterval());
|
||||
@ -221,28 +224,28 @@ TEST(TransferReceiver, Basic)
|
||||
|
||||
std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
|
||||
|
||||
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", SET110, 0, 100000100), bk));
|
||||
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", SET110, 8, 100000100), bk));
|
||||
ASSERT_EQ(100000100, rcv.getLastTransferTimestampMonotonic().toUSec());
|
||||
|
||||
std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
|
||||
|
||||
ASSERT_TRUE(rcv.isTimedOut(tsMono(900000000)));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "\x78\x56" "345678", SET100, 0, 900000000), bk)); // Global timeout
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", SET100, 0, 900000100), bk)); // Wrong iface
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", SET011, 0, 900000200), bk)); // Wrong iface
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", SET011, 0, 900000200), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "\x78\x56" "34567", SET100, 0, 900000000), bk)); // Global timeout
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, 0, 900000100), bk)); // Wrong iface
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", SET011, 0, 900000200), bk)); // Wrong iface
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", SET011, 0, 900000200), bk));
|
||||
|
||||
ASSERT_EQ(900000000, rcv.getLastTransferTimestampMonotonic().toUSec());
|
||||
std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
|
||||
|
||||
ASSERT_FALSE(rcv.isTimedOut(tsMono(1000)));
|
||||
ASSERT_FALSE(rcv.isTimedOut(tsMono(900000300)));
|
||||
ASSERT_TRUE(rcv.isTimedOut(tsMono(990000000)));
|
||||
ASSERT_TRUE(rcv.isTimedOut(tsMono(9990000000)));
|
||||
|
||||
ASSERT_LT(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval());
|
||||
ASSERT_LE(TransferReceiver::getMinTransferInterval(), rcv.getInterval());
|
||||
ASSERT_GE(TransferReceiver::getMaxTransferInterval(), rcv.getInterval());
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwe"));
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwe"));
|
||||
ASSERT_EQ(0x5678, rcv.getLastTransferCrc());
|
||||
|
||||
/*
|
||||
@ -265,24 +268,24 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
|
||||
/*
|
||||
* Simple transfer, maximum buffer length
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 1, 100000000), bk)); // 6
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET001, 1, 100000100), bk)); // 14
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET000, 1, 100000200), bk)); // 22
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET001, 1, 100000300), bk)); // 30
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "12", SET010, 1, 100000400), bk)); // 32
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 1, 100000000), bk)); // 5
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 1, 100000100), bk)); // 12
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET000, 1, 100000200), bk)); // 19
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 1, 100000300), bk)); // 26
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "123456", SET010, 1, 100000400), bk)); // 32
|
||||
|
||||
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567812345678123456781234567812"));
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567123456712345671234567123456"));
|
||||
ASSERT_EQ(0x3231, rcv.getLastTransferCrc()); // CRC from "12", which is 0x3231 in little endian
|
||||
|
||||
/*
|
||||
* Transfer longer than available buffer space
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 2, 100001000), bk)); // 6
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET001, 2, 100001100), bk)); // 14
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET000, 2, 100001200), bk)); // 22
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET001, 2, 100001200), bk)); // 30
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET010, 2, 100001300), bk)); // 38 // EOT, ignored - lost sync
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 2, 100001000), bk)); // 5
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 2, 100001100), bk)); // 12
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET000, 2, 100001200), bk)); // 19
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 2, 100001200), bk)); // 26
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET010, 2, 100001300), bk)); // 33 // EOT, ignored - lost sync
|
||||
|
||||
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec()); // Timestamp will not be overriden
|
||||
ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer should be removed
|
||||
@ -300,15 +303,15 @@ TEST(TransferReceiver, OutOfOrderFrames)
|
||||
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
|
||||
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
|
||||
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 7, 100000000), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET001, 7, 100000100), bk)); // Out of order
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET010, 7, 100000200), bk)); // Out of order
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", SET001, 7, 100000300), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET010, 7, 100000200), bk)); // Out of order
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 7, 100000400), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 7, 100000000), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET000, 7, 100000100), bk)); // Out of order
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET010, 7, 100000200), bk)); // Out of order
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyu", SET001, 7, 100000300), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET011, 7, 100000200), bk)); // Out of order
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 7, 100000400), bk));
|
||||
|
||||
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwertyuabcd"));
|
||||
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
|
||||
|
||||
ASSERT_EQ(3, rcv.yieldErrorCount());
|
||||
@ -330,11 +333,11 @@ TEST(TransferReceiver, IntervalMeasurement)
|
||||
|
||||
for (int i = 0; i < 1000; i++)
|
||||
{
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, tid.get(), timestamp), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", SET001, tid.get(), timestamp), bk));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, tid.get(), timestamp), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, tid.get(), timestamp), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyu", SET001, tid.get(), timestamp), bk));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, tid.get(), timestamp), bk));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwertyuabcd"));
|
||||
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
|
||||
ASSERT_EQ(timestamp, rcv.getLastTransferTimestampMonotonic().toUSec());
|
||||
|
||||
@ -356,34 +359,35 @@ TEST(TransferReceiver, Restart)
|
||||
|
||||
/*
|
||||
* This transfer looks complete, but must be ignored because of large delay after the first frame
|
||||
* Args: iface_index, data, set, transfer_id, ts_monotonic [, ts_utc]
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", SET100, 0, 100), bk)); // Begin
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", SET001, 0, 10000100), bk)); // Continue 10 sec later, expired
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", SET010, 0, 10000200), bk)); // Ignored
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET100, 0, 100), bk)); // Begin
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 0, 100000100), bk)); // Continue 100 sec later, expired
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET010, 0, 100000200), bk)); // Ignored
|
||||
|
||||
/*
|
||||
* Begins immediately after, gets an iface timeout but completes OK
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 0, 10000300), bk)); // Begin
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET001, 0, 12000300), bk)); // 2 sec later, iface timeout
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "12345678", SET010, 0, 12000400), bk)); // OK nevertheless
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 0, 100000300), bk)); // Begin
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 0, 102000300), bk)); // 2 sec later, iface timeout
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "1234567", SET010, 0, 102000400), bk)); // OK nevertheless
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456781234567812345678"));
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456712345671234567"));
|
||||
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
|
||||
|
||||
/*
|
||||
* Begins OK, gets an iface timeout, switches to another iface
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET100, 1, 13000500), bk)); // Begin
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET001, 1, 16000500), bk)); // 3 sec later, iface timeout
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", SET001, 1, 16000600), bk)); // Same TID, another iface - ignore
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", SET001, 2, 16000700), bk)); // Not first frame - ignore
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", SET100, 2, 16000800), bk)); // First, another iface - restart
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET010, 1, 16000600), bk)); // Old iface - ignore
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", SET001, 2, 16000900), bk)); // Continuing
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "12345678", SET010, 2, 16000910), bk)); // Done
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET100, 1, 103000500), bk)); // Begin
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET001, 1, 106000500), bk)); // 3 sec later, iface timeout
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 1, 106000600), bk)); // Same TID, another iface - ignore
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 2, 106000700), bk)); // Not first frame - ignore
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, 2, 106000800), bk)); // First, another iface - restart
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET010, 1, 106000600), bk)); // Old iface - ignore
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET001, 2, 106000900), bk)); // Continuing
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "1234567", SET010, 2, 106000910), bk)); // Done
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456781234567812345678"));
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456712345671234567"));
|
||||
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
|
||||
|
||||
ASSERT_EQ(1, rcv.yieldErrorCount());
|
||||
@ -402,22 +406,22 @@ TEST(TransferReceiver, UtcTransferTimestamping)
|
||||
/*
|
||||
* Zero UTC timestamp must be preserved
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 0, 1, 0), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", SET001, 0, 2, 0), bk));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 0, 3, 0), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 0, 1, 0), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyu", SET001, 0, 2, 0), bk));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 0, 3, 0), bk));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwertyuabcd"));
|
||||
ASSERT_EQ(1, rcv.getLastTransferTimestampMonotonic().toUSec());
|
||||
ASSERT_EQ(0, rcv.getLastTransferTimestampUtc().toUSec());
|
||||
|
||||
/*
|
||||
* Non-zero UTC timestamp
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 1, 4, 123), bk)); // This UTC is going to be preserved
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", SET001, 1, 5, 0), bk)); // Following are ignored
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 1, 6, 42), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 1, 4, 123), bk)); // This UTC is going to be preserved
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyu", SET001, 1, 5, 0), bk)); // Following are ignored
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 1, 6, 42), bk));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwertyuabcd"));
|
||||
ASSERT_EQ(4, rcv.getLastTransferTimestampMonotonic().toUSec());
|
||||
ASSERT_EQ(123, rcv.getLastTransferTimestampUtc().toUSec());
|
||||
|
||||
@ -425,18 +429,18 @@ TEST(TransferReceiver, UtcTransferTimestamping)
|
||||
* Single-frame transfers
|
||||
* iface_index, data, set, transfer_id, ts_monotonic
|
||||
*/
|
||||
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "abc", SET100, 2, 10, 100000000), bk)); // Exact value is irrelevant
|
||||
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "abc", SET110, 2, 10, 100000000), bk)); // Exact value is irrelevant
|
||||
ASSERT_EQ(10, rcv.getLastTransferTimestampMonotonic().toUSec());
|
||||
ASSERT_EQ(100000000, rcv.getLastTransferTimestampUtc().toUSec());
|
||||
|
||||
/*
|
||||
* Restart recovery
|
||||
*/
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", SET100, 1, 100000000, 800000000), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", SET001, 1, 100000001, 300000000), bk));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET010, 1, 100000002, 900000000), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, 1, 100000000, 800000000), bk));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyu", SET001, 1, 100000001, 300000000), bk));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET010, 1, 100000002, 900000000), bk));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwertyuabcd"));
|
||||
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
|
||||
ASSERT_EQ(800000000, rcv.getLastTransferTimestampUtc().toUSec());
|
||||
}
|
||||
@ -465,10 +469,10 @@ TEST(TransferReceiver, HeaderParsing)
|
||||
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), uavcan::TransferTypeMessageBroadcast);
|
||||
uavcan::TransferBufferAccessor bk1(context.bufmgr, gen.bufmgr_key);
|
||||
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", SET100, tid.get(), 1), bk1));
|
||||
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, tid.get(), 1), bk1));
|
||||
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET011, tid.get(), 2), bk1));
|
||||
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678abcd"));
|
||||
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567abcd"));
|
||||
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
|
||||
|
||||
tid.increment();
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user