TransportPerfCounter - counting transfers and transport errors

libuavcan/include/uavcan/node/generic_subscriber.hpp

@@ -98,7 +98,7 @@ class GenericSubscriber : Noncopyable
 
     public:
         TransferForwarder(SelfType& obj, const DataTypeDescriptor& data_type, IAllocator& allocator)
-            : TransferListenerType(data_type, allocator)
+            : TransferListenerType(obj.node_.getDispatcher().getTransportPerfCounter(), data_type, allocator)
             , obj_(obj)
         { }
     };

libuavcan/include/uavcan/transport/dispatcher.hpp

@@ -6,6 +6,7 @@
 
 #include <cassert>
 #include <uavcan/stdint.hpp>
+#include <uavcan/transport/perf_counter.hpp>
 #include <uavcan/transport/transfer_listener.hpp>
 #include <uavcan/transport/outgoing_transfer_registry.hpp>
 #include <uavcan/transport/can_io.hpp>
@@ -57,6 +58,7 @@ class Dispatcher : Noncopyable
     CanIOManager canio_;
     ISystemClock& sysclock_;
     IOutgoingTransferRegistry& outgoing_transfer_reg_;
+    TransportPerfCounter perf_;
 
     class ListenerRegistry
     {
@@ -141,6 +143,9 @@ public:
     ISystemClock& getSystemClock() { return sysclock_; }
 
     const CanIOManager& getCanIOManager() const { return canio_; }
+
+    const TransportPerfCounter& getTransportPerfCounter() const { return perf_; }
+    TransportPerfCounter& getTransportPerfCounter() { return perf_; }
 };
 
 }

libuavcan/include/uavcan/transport/perf_counter.hpp

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/stdint.hpp>
+
+namespace uavcan
+{
+
+class TransportPerfCounter
+{
+    uint64_t transfers_tx_;
+    uint64_t transfers_rx_;
+    uint64_t errors_;
+
+public:
+    TransportPerfCounter()
+        : transfers_tx_(0)
+        , transfers_rx_(0)
+        , errors_(0)
+    { }
+
+    void addTxTransfer() { transfers_tx_++; }
+    void addRxTransfer() { transfers_rx_++; }
+
+    void addError() { errors_++; }
+
+    void addErrors(unsigned int errors)
+    {
+        errors_ += errors;
+    }
+
+    uint64_t getTxTransferCount() const { return transfers_tx_; }
+    uint64_t getRxTransferCount() const { return transfers_rx_; }
+    uint64_t getErrorCount() const { return errors_; }
+};
+
+}

libuavcan/include/uavcan/transport/transfer_listener.hpp

@@ -8,6 +8,7 @@
 #include <algorithm>
 #include <uavcan/stdint.hpp>
 #include <uavcan/transport/transfer_receiver.hpp>
+#include <uavcan/transport/perf_counter.hpp>
 #include <uavcan/linked_list.hpp>
 #include <uavcan/map.hpp>
 #include <uavcan/debug.hpp>
@@ -88,13 +89,15 @@ class TransferListenerBase : public LinkedListNode<TransferListenerBase>, Noncop
 {
     const DataTypeDescriptor& data_type_;
     const TransferCRC crc_base_;                      ///< Pre-initialized with data type hash, thus constant
+    TransportPerfCounter& perf_;
 
     bool checkPayloadCrc(const uint16_t compare_with, const ITransferBuffer& tbb) const;
 
 protected:
-    TransferListenerBase(const DataTypeDescriptor& data_type)
+    TransferListenerBase(TransportPerfCounter& perf, const DataTypeDescriptor& data_type)
         : data_type_(data_type)
         , crc_base_(data_type.getSignature().toTransferCRC())
+        , perf_(perf)
     { }
 
     virtual ~TransferListenerBase() { }
@@ -181,8 +184,8 @@ protected:
     }
 
 public:
-    TransferListener(const DataTypeDescriptor& data_type, IAllocator& allocator)
-        : TransferListenerBase(data_type)
+    TransferListener(TransportPerfCounter& perf, const DataTypeDescriptor& data_type, IAllocator& allocator)
+        : TransferListenerBase(perf, data_type)
         , bufmgr_(allocator)
         , receivers_(allocator)
     {
@@ -246,8 +249,9 @@ private:
     }
 
 public:
-    ServiceResponseTransferListener(const DataTypeDescriptor& data_type, IAllocator& allocator)
-        : BaseType(data_type, allocator)
+    ServiceResponseTransferListener(TransportPerfCounter& perf, const DataTypeDescriptor& data_type,
+                                    IAllocator& allocator)
+        : BaseType(perf, data_type, allocator)
     { }
 
     void setExpectedResponseParams(const ExpectedResponseParams& erp)

libuavcan/include/uavcan/transport/transfer_receiver.hpp

@@ -41,11 +41,11 @@ private:
     TransferID tid_;
     uint8_t iface_index_;
     uint8_t next_frame_index_;
-    uint8_t error_cnt_;
+    mutable uint8_t error_cnt_;
 
     bool isInitialized() const { return iface_index_ != IfaceIndexNotSet; }
 
-    void registerError();
+    void registerError() const;
 
     TidRelation getTidRelation(const RxFrame& frame) const;
 

libuavcan/include/uavcan/transport/transfer_sender.hpp

@@ -25,6 +25,8 @@ class TransferSender
 
     Dispatcher& dispatcher_;
 
+    void registerError();
+
 public:
     enum { AllIfacesMask = 0xFF };