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DataTypeDescriptor got name_

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This commit is contained in:
Pavel Kirienko 2014-02-27 09:29:58 +04:00
parent bc54015265
commit d71ec29fcf
11 changed files with 87 additions and 40 deletions
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42
libuavcan/include/uavcan/data_type.hpp
View File

@ -87,33 +87,49 @@ public:
};
struct DataTypeDescriptor
class DataTypeDescriptor
{
DataTypeKind kind_;
uint16_t id_;
DataTypeSignature signature_;
const char* name_;
public:
enum { MaxDataTypeID = Frame::MaxDataTypeID };
DataTypeKind kind;
uint16_t id;
DataTypeSignature signature;
DataTypeDescriptor()
: kind(DataTypeKind(0))
, id(0)
, signature(DataTypeSignature::zero())
: kind_(DataTypeKind(0))
, id_(0)
, signature_(DataTypeSignature::zero())
, name_("")
{ }
DataTypeDescriptor(DataTypeKind kind, uint16_t id, const DataTypeSignature& signature)
: kind(kind)
, id(id)
, signature(signature)
DataTypeDescriptor(DataTypeKind kind, uint16_t id, const DataTypeSignature& signature, const char* name)
: kind_(kind)
, id_(id)
, signature_(signature)
, name_(name)
{
assert(id <= MaxDataTypeID);
assert(kind < NumDataTypeKinds);
assert(name);
}
DataTypeKind getKind() const { return kind_; }
uint16_t getID() const { return id_; }
const DataTypeSignature& getSignature() const { return signature_; }
const char* getName() const { return name_; }
std::string toString() const;
bool operator!=(const DataTypeDescriptor& rhs) const { return !operator==(rhs); }
bool operator==(const DataTypeDescriptor& rhs) const
{
return (kind == rhs.kind) && (id == rhs.id) && (signature == rhs.signature);
return
(kind_ == rhs.kind_) &&
(id_ == rhs.id_) &&
(signature_ == rhs.signature_) &&
!std::strcmp(name_, rhs.name_);
}
};

2
libuavcan/include/uavcan/internal/transport/dispatcher.hpp
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@ -32,7 +32,7 @@ class Dispatcher : Noncopyable
bool operator()(const TransferListenerBase* listener) const
{
assert(listener);
return id_ > listener->getDataTypeDescriptor().id;
return id_ > listener->getDataTypeDescriptor().getID();
}
};

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

@ -95,7 +95,7 @@ class TransferListenerBase : public LinkedListNode<TransferListenerBase>
protected:
TransferListenerBase(const DataTypeDescriptor& data_type)
: data_type_(data_type)
, crc_base_(data_type.signature.toTransferCRC())
, crc_base_(data_type.getSignature().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.signature.toTransferCRC())
, crc_base_(data_type.getSignature().toTransferCRC())
, dispatcher_(dispatcher)
{ }

21
libuavcan/src/data_type.cpp
View File

@ -2,7 +2,8 @@
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <cstdio>
#include <sstream>
#include <iomanip>
#include <cassert>
#include <uavcan/data_type.hpp>
@ -34,4 +35,22 @@ TransferCRC DataTypeSignature::toTransferCRC() const
return tcrc;
}
/*
* DataTypeDescriptor
*/
std::string DataTypeDescriptor::toString() const
{
char kindch = '?';
switch (kind_)
{
case DataTypeKindMessage: kindch = 'm'; break;
case DataTypeKindService: kindch = 's'; break;
default: assert(0);
}
std::ostringstream os;
os << name_ << ":" << id_ << kindch << ":" << std::hex << std::setfill('0') << std::setw(16) << signature_.get();
return os.str();
}
}

14
libuavcan/src/transport/dispatcher.cpp
View File

@ -18,13 +18,13 @@ bool Dispatcher::ListenerRegister::add(TransferListenerBase* listener, Mode mode
TransferListenerBase* p = list_.get();
while (p)
{
if (p->getDataTypeDescriptor().id == listener->getDataTypeDescriptor().id)
if (p->getDataTypeDescriptor().getID() == listener->getDataTypeDescriptor().getID())
return false;
p = p->getNextListNode();
}
}
// Objective is to arrange entries by Data Type ID in ascending order from root.
list_.insertBefore(listener, DataTypeIDInsertionComparator(listener->getDataTypeDescriptor().id));
list_.insertBefore(listener, DataTypeIDInsertionComparator(listener->getDataTypeDescriptor().getID()));
return true;
}
@ -48,9 +48,9 @@ void Dispatcher::ListenerRegister::handleFrame(const RxFrame& frame)
TransferListenerBase* p = list_.get();
while (p)
{
if (p->getDataTypeDescriptor().id == frame.getDataTypeID())
if (p->getDataTypeDescriptor().getID() == frame.getDataTypeID())
p->handleFrame(frame);
else if (p->getDataTypeDescriptor().id < frame.getDataTypeID()) // Listeners are ordered by data type id!
else if (p->getDataTypeDescriptor().getID() < frame.getDataTypeID()) // Listeners are ordered by data type id!
break;
p = p->getNextListNode();
}
@ -145,7 +145,7 @@ void Dispatcher::cleanup(uint64_t ts_monotonic)
bool Dispatcher::registerMessageListener(TransferListenerBase* listener)
{
if (listener->getDataTypeDescriptor().kind != DataTypeKindMessage)
if (listener->getDataTypeDescriptor().getKind() != DataTypeKindMessage)
{
assert(0);
return false;
@ -155,7 +155,7 @@ bool Dispatcher::registerMessageListener(TransferListenerBase* listener)
bool Dispatcher::registerServiceRequestListener(TransferListenerBase* listener)
{
if (listener->getDataTypeDescriptor().kind != DataTypeKindService)
if (listener->getDataTypeDescriptor().getKind() != DataTypeKindService)
{
assert(0);
return false;
@ -165,7 +165,7 @@ bool Dispatcher::registerServiceRequestListener(TransferListenerBase* listener)
bool Dispatcher::registerServiceResponseListener(TransferListenerBase* listener)
{
if (listener->getDataTypeDescriptor().kind != DataTypeKindService)
if (listener->getDataTypeDescriptor().getKind() != DataTypeKindService)
{
assert(0);
return false;

7
libuavcan/src/transport/transfer_sender.cpp
View File

@ -14,7 +14,7 @@ int TransferSender::send(const uint8_t* payload, int payload_len, uint64_t monot
uint64_t monotonic_blocking_deadline, TransferType transfer_type, NodeID dst_node_id,
TransferID tid)
{
Frame frame(data_type_.id, transfer_type, dispatcher_.getSelfNodeID(), dst_node_id, 0, tid);
Frame frame(data_type_.getID(), transfer_type, dispatcher_.getSelfNodeID(), dst_node_id, 0, tid);
if (frame.getMaxPayloadLen() >= payload_len) // Single Frame Transfer
{
@ -87,7 +87,7 @@ int TransferSender::send(const uint8_t* payload, int payload_len, uint64_t monot
int TransferSender::send(const uint8_t* payload, int payload_len, uint64_t monotonic_tx_deadline,
uint64_t monotonic_blocking_deadline, TransferType transfer_type, NodeID dst_node_id)
{
const OutgoingTransferRegistryKey otr_key(data_type_.id, transfer_type, dst_node_id);
const OutgoingTransferRegistryKey otr_key(data_type_.getID(), transfer_type, dst_node_id);
assert(monotonic_tx_deadline > 0);
const uint64_t otr_deadline = monotonic_tx_deadline + max_transfer_interval_;
@ -95,7 +95,8 @@ int TransferSender::send(const uint8_t* payload, int payload_len, uint64_t monot
TransferID* const tid = dispatcher_.getOutgoingTransferRegistry().accessOrCreate(otr_key, otr_deadline);
if (tid == NULL)
{
UAVCAN_TRACE("TransferSender", "OTR access failure, dtid=%i tt=%i", int(data_type_.id), int(transfer_type));
UAVCAN_TRACE("TransferSender", "OTR access failure, dtd=%s tt=%i",
data_type_.toString().c_str(), int(transfer_type));
return -1;
}

11
libuavcan/test/data_type.cpp
View File

@ -91,3 +91,14 @@ TEST(DataTypeSignature, Correctness)
ASSERT_FALSE(signature != DataTypeSignature(signature.get()));
ASSERT_TRUE(signature != DataTypeSignature::zero());
}
TEST(DataTypeDescriptor, ToString)
{
uavcan::DataTypeDescriptor desc;
ASSERT_EQ(":0s:0000000000000000", desc.toString());
desc = uavcan::DataTypeDescriptor(uavcan::DataTypeKindMessage, 123,
uavcan::DataTypeSignature(0xdeadbeef1234), "Bar");
ASSERT_EQ("Bar:123m:0000deadbeef1234", desc.toString());
}

10
libuavcan/test/transport/transfer_listener.cpp
View File

@ -30,7 +30,7 @@ public:
TEST(TransferListener, BasicMFT)
{
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "A");
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;
@ -85,7 +85,7 @@ TEST(TransferListener, BasicMFT)
TEST(TransferListener, CrcFailure)
{
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "A");
uavcan::PoolManager<1> poolmgr; // No dynamic memory
TestSubscriber<256, 2, 2> subscriber(type, poolmgr); // Static buffer only, 2 entries
@ -128,7 +128,7 @@ TEST(TransferListener, CrcFailure)
TEST(TransferListener, BasicSFT)
{
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "A");
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
@ -163,7 +163,7 @@ TEST(TransferListener, BasicSFT)
TEST(TransferListener, Cleanup)
{
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "A");
uavcan::PoolManager<1> poolmgr; // No dynamic memory
TestSubscriber<256, 1, 2> subscriber(type, poolmgr); // Static buffer only, 1 entry
@ -217,7 +217,7 @@ TEST(TransferListener, Cleanup)
TEST(TransferListener, MaximumTransferLength)
{
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
const uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "A");
uavcan::PoolManager<1> poolmgr;
TestSubscriber<uavcan::MaxTransferPayloadLen * 2, 2, 2> subscriber(type, poolmgr);

4
libuavcan/test/transport/transfer_test_helpers.cpp
View File

@ -32,7 +32,7 @@ TEST(TransferTestHelpers, Transfer)
TEST(TransferTestHelpers, MFTSerialization)
{
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "Foo");
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);
@ -61,7 +61,7 @@ TEST(TransferTestHelpers, MFTSerialization)
TEST(TransferTestHelpers, SFTSerialization)
{
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789));
uavcan::DataTypeDescriptor type(uavcan::DataTypeKindMessage, 123, uavcan::DataTypeSignature(123456789), "Foo");
{
const Transfer transfer(1, 100000, uavcan::TransferTypeMessageBroadcast, 7, 42, 0, "Nvrfrget", type);

12
libuavcan/test/transport/transfer_test_helpers.hpp
View File

@ -85,7 +85,7 @@ struct Transfer
<< " tid=" << int(transfer_id.get())
<< " snid=" << int(src_node_id.get())
<< " dnid=" << int(dst_node_id.get())
<< " dtid=" << int(data_type.id)
<< " dtid=" << int(data_type.getID())
<< "\n\t'" << payload << "'";
return os.str();
}
@ -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.signature.toTransferCRC();
uavcan::TransferCRC payload_crc = transfer.data_type.getSignature().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);
@ -184,8 +184,8 @@ std::vector<uavcan::RxFrame> serializeTransfer(const Transfer& transfer)
const int bytes_left = raw_payload.size() - offset;
EXPECT_TRUE(bytes_left >= 0);
uavcan::Frame frm(transfer.data_type.id, transfer.transfer_type, transfer.src_node_id, transfer.dst_node_id,
frame_index, transfer.transfer_id);
uavcan::Frame frm(transfer.data_type.getID(), transfer.transfer_type, transfer.src_node_id,
transfer.dst_node_id, frame_index, transfer.transfer_id);
const int spres = frm.setPayload(&*(raw_payload.begin() + offset), bytes_left);
if (spres < 0)
{
@ -210,10 +210,10 @@ std::vector<uavcan::RxFrame> serializeTransfer(const Transfer& transfer)
return output;
}
uavcan::DataTypeDescriptor makeDataType(uavcan::DataTypeKind kind, uint16_t id)
uavcan::DataTypeDescriptor makeDataType(uavcan::DataTypeKind kind, uint16_t id, const char* name = "")
{
const uavcan::DataTypeSignature signature((uint64_t(kind) << 16) | (id << 8) | (id & 0xFF));
return uavcan::DataTypeDescriptor(kind, id, signature);
return uavcan::DataTypeDescriptor(kind, id, signature, name);
}
}