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Support for different DTID limits depending on data type kind; tests are failing now!

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This commit is contained in:
Pavel Kirienko
2015-04-29 03:08:07 +03:00
parent feb534a45f
commit eafcfa1733
11 changed files with 86 additions and 17 deletions
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libuavcan/include/uavcan/data_type.hpp
+32 -3
View File
@@ -24,22 +24,49 @@ enum DataTypeKind
};
static inline DataTypeKind getDataTypeKindForTransferType(const TransferType tt)
{
if (tt == TransferTypeServiceResponse ||
tt == TransferTypeServiceRequest)
{
return DataTypeKindService;
}
else if (tt == TransferTypeMessageBroadcast ||
tt == TransferTypeMessageUnicast)
{
return DataTypeKindMessage;
}
else
{
UAVCAN_ASSERT(0);
return DataTypeKind(0);
}
}
class UAVCAN_EXPORT DataTypeID
{
uint16_t value_;
public:
static const uint16_t Max = 1023;
static const uint16_t MaxServiceDataTypeIDValue = 511;
static const uint16_t MaxMessageDataTypeIDValue = 2047;
static const uint16_t MaxPossibleDataTypeIDValue = MaxMessageDataTypeIDValue;
DataTypeID() : value_(0xFFFF) { }
DataTypeID(uint16_t id) // Implicit
: value_(id)
{
UAVCAN_ASSERT(isValid());
UAVCAN_ASSERT(id < 0xFFFF);
}
bool isValid() const { return value_ <= Max; }
static DataTypeID getMaxValueForDataTypeKind(const DataTypeKind dtkind);
bool isValidForDataTypeKind(DataTypeKind dtkind) const
{
return value_ <= getMaxValueForDataTypeKind(dtkind).get();
}
uint16_t get() const { return value_; }
@@ -128,6 +155,8 @@ public:
UAVCAN_ASSERT(std::strlen(name) <= MaxFullNameLen);
}
bool isValid() const;
DataTypeKind getKind() const { return kind_; }
DataTypeID getID() const { return id_; }
const DataTypeSignature& getSignature() const { return signature_; }
libuavcan/include/uavcan/node/global_data_type_registry.hpp
+2 -1
View File
@@ -21,7 +21,7 @@ namespace uavcan
/**
* Bit mask where bit at index X is set if there's a Data Type with ID X.
*/
typedef BitSet<DataTypeID::Max + 1> DataTypeIDMask;
typedef BitSet<DataTypeID::MaxPossibleDataTypeIDValue + 1> DataTypeIDMask;
/**
* This singleton is shared among all existing node instances. It is instantiated automatically
@@ -153,6 +153,7 @@ public:
/**
* Computes Aggregate Signature for all known data types selected by the mask.
* Extra bits will be zeroed.
* Please read the DSDL specification.
* @param[in] kind Data Type Kind - messages or services.
* @param[inout] inout_id_mask Data types to compute aggregate signature for; bits at
libuavcan/include/uavcan/transport/frame.hpp
+1 -1
View File
@@ -49,7 +49,7 @@ public:
, last_frame_(last_frame)
{
UAVCAN_ASSERT((transfer_type == TransferTypeMessageBroadcast) == dst_node_id.isBroadcast());
UAVCAN_ASSERT(data_type_id.isValid());
UAVCAN_ASSERT(data_type_id.isValidForDataTypeKind(getDataTypeKindForTransferType(transfer_type)));
UAVCAN_ASSERT(src_node_id.isUnicast() ? (src_node_id != dst_node_id) : true);
UAVCAN_ASSERT(frame_index <= MaxIndex);
}
libuavcan/src/node/uc_global_data_type_registry.cpp
+2 -2
View File
@@ -61,7 +61,7 @@ GlobalDataTypeRegistry::RegistrationResult GlobalDataTypeRegistry::remove(Entry*
GlobalDataTypeRegistry::RegistrationResult GlobalDataTypeRegistry::registImpl(Entry* dtd)
{
if (!dtd || (dtd->descriptor.getID() > DataTypeID::Max))
if (!dtd || !dtd->descriptor.isValid())
{
UAVCAN_ASSERT(0);
return RegistrationResultInvalidParams;
@@ -241,7 +241,7 @@ DataTypeSignature GlobalDataTypeRegistry::computeAggregateSignature(DataTypeKind
p = p->getNextListNode();
}
prev_dtid++;
while (prev_dtid <= DataTypeID::Max)
while (unsigned(prev_dtid) < inout_id_mask.size())
{
inout_id_mask[unsigned(prev_dtid++)] = false;
}
libuavcan/src/protocol/uc_data_type_info_provider.cpp
+7 -3
View File
@@ -17,17 +17,21 @@ void DataTypeInfoProvider::handleComputeAggregateTypeSignatureRequest(
const protocol::ComputeAggregateTypeSignature::Request& request,
protocol::ComputeAggregateTypeSignature::Response& response)
{
const DataTypeKind kind = DataTypeKind(request.kind.value);
const DataTypeKind kind = DataTypeKind(request.kind.value); // No mapping needed
if (!isValidDataTypeKind(kind))
{
UAVCAN_TRACE("DataTypeInfoProvider",
"ComputeAggregateTypeSignature request with invalid DataTypeKind %i", kind);
"ComputeAggregateTypeSignature request with invalid DataTypeKind %d", kind);
return;
}
UAVCAN_TRACE("DataTypeInfoProvider", "ComputeAggregateTypeSignature request for dtk=%i", int(request.kind.value));
UAVCAN_TRACE("DataTypeInfoProvider", "ComputeAggregateTypeSignature request for dtk=%d, len(known_ids)=%d",
int(request.kind.value), int(request.known_ids.size()));
// Correcting the mask length according to the data type kind
response.mutually_known_ids = request.known_ids;
response.mutually_known_ids.resize(static_cast<uint16_t>(DataTypeID::getMaxValueForDataTypeKind(kind).get() + 1U));
response.aggregate_signature =
GlobalDataTypeRegistry::instance().computeAggregateSignature(kind, response.mutually_known_ids).get();
}
libuavcan/src/transport/uc_frame.cpp
+1 -1
View File
@@ -179,7 +179,7 @@ bool Frame::isValid() const
((transfer_type_ == TransferTypeMessageBroadcast) != dst_node_id_.isBroadcast()) ||
(transfer_type_ >= NumTransferTypes) ||
(static_cast<int>(payload_len_) > getMaxPayloadLen()) ||
(!data_type_id_.isValid());
(!data_type_id_.isValidForDataTypeKind(getDataTypeKindForTransferType(transfer_type_)));
return !invalid;
}
libuavcan/src/uc_data_type.cpp
+27 -1
View File
@@ -12,7 +12,26 @@ namespace uavcan
/*
* DataTypeID
*/
const uint16_t DataTypeID::Max;
const uint16_t DataTypeID::MaxServiceDataTypeIDValue;
const uint16_t DataTypeID::MaxMessageDataTypeIDValue;
const uint16_t DataTypeID::MaxPossibleDataTypeIDValue;
DataTypeID DataTypeID::getMaxValueForDataTypeKind(const DataTypeKind dtkind)
{
if (dtkind == DataTypeKindService)
{
return MaxServiceDataTypeIDValue;
}
else if (dtkind == DataTypeKindMessage)
{
return MaxMessageDataTypeIDValue;
}
else
{
UAVCAN_ASSERT(0);
return DataTypeID(0);
}
}
/*
* DataTypeSignatureCRC
@@ -78,6 +97,13 @@ TransferCRC DataTypeSignature::toTransferCRC() const
*/
const unsigned DataTypeDescriptor::MaxFullNameLen;
bool DataTypeDescriptor::isValid() const
{
return id_.isValidForDataTypeKind(kind_) &&
(full_name_ != NULL) &&
(*full_name_ != '\0');
}
bool DataTypeDescriptor::match(DataTypeKind kind, const char* name) const
{
return (kind_ == kind) && !std::strncmp(full_name_, name, MaxFullNameLen);
libuavcan/test/data_type.cpp
+10 -3
View File
@@ -129,7 +129,8 @@ TEST(DataTypeID, Basic)
uavcan::DataTypeID id;
ASSERT_EQ(0xFFFF, id.get());
ASSERT_FALSE(id.isValid());
ASSERT_FALSE(id.isValidForDataTypeKind(uavcan::DataTypeKindMessage));
ASSERT_FALSE(id.isValidForDataTypeKind(uavcan::DataTypeKindService));
id = 123;
uavcan::DataTypeID id2 = 456;
@@ -137,8 +138,10 @@ TEST(DataTypeID, Basic)
ASSERT_EQ(123, id.get());
ASSERT_EQ(456, id2.get());
ASSERT_TRUE(id.isValid());
ASSERT_TRUE(id2.isValid());
ASSERT_TRUE(id.isValidForDataTypeKind(uavcan::DataTypeKindMessage));
ASSERT_TRUE(id.isValidForDataTypeKind(uavcan::DataTypeKindService));
ASSERT_TRUE(id2.isValidForDataTypeKind(uavcan::DataTypeKindMessage));
ASSERT_TRUE(id2.isValidForDataTypeKind(uavcan::DataTypeKindService));
ASSERT_TRUE(id < id2);
ASSERT_TRUE(id <= id2);
@@ -152,4 +155,8 @@ TEST(DataTypeID, Basic)
ASSERT_FALSE(id2 > id);
ASSERT_TRUE(id2 >= id);
ASSERT_TRUE(id == id2);
id = 1024;
ASSERT_TRUE(id.isValidForDataTypeKind(uavcan::DataTypeKindMessage));
ASSERT_FALSE(id.isValidForDataTypeKind(uavcan::DataTypeKindService));
}
libuavcan/test/protocol/logger.cpp
+2
View File
@@ -87,6 +87,7 @@ TEST(Logger, Basic)
ASSERT_LE(0, logger.logError("foo", "Error"));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_TRUE(log_sub.collector.msg.get());
ASSERT_EQ(log_sub.collector.msg->level.value, uavcan::protocol::debug::LogLevel::ERROR);
ASSERT_EQ(log_sub.collector.msg->source, "foo");
ASSERT_EQ(log_sub.collector.msg->text, "Error");
@@ -134,6 +135,7 @@ TEST(Logger, Cpp11Formatting)
ASSERT_LE(0, logger.logWarning("foo", "char='%*', %* is %*", '$', "double", 12.34));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_TRUE(log_sub.collector.msg.get());
ASSERT_EQ(log_sub.collector.msg->level.value, uavcan::protocol::debug::LogLevel::WARNING);
ASSERT_EQ(log_sub.collector.msg->source, "foo");
ASSERT_EQ(log_sub.collector.msg->text, "char='$', double is 12.34");
libuavcan/test/transport/frame.cpp
+1 -1
View File
@@ -230,7 +230,7 @@ TEST(Frame, FrameToString)
rx_frame.toString());
// RX frame max len
rx_frame = RxFrame(Frame(uavcan::DataTypeID::Max, uavcan::TransferTypeMessageUnicast,
rx_frame = RxFrame(Frame(uavcan::DataTypeID::MaxPossibleDataTypeIDValue, uavcan::TransferTypeMessageUnicast,
uavcan::NodeID::Max, uavcan::NodeID::Max - 1, Frame::MaxIndex,
uavcan::TransferID::Max, true),
uavcan::MonotonicTime::getMax(), uavcan::UtcTime::getMax(), 3);
libuavcan/test/transport/transfer_receiver.cpp
+1 -1
View File
@@ -428,7 +428,7 @@ TEST(TransferReceiver, UtcTransferTimestamping)
TEST(TransferReceiver, HeaderParsing)
{
Context<32> context;
RxFrameGenerator gen(789);
RxFrameGenerator gen(123);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;