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ClusterManager test for the case of one server

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This commit is contained in:
Pavel Kirienko
2015-05-05 11:29:51 +03:00
parent 92d74d35ea
commit f11f49a7d2
4 changed files with 122 additions and 33 deletions
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libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
+42 -32
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@@ -586,13 +586,42 @@ void ClusterManager::addServer(NodeID node_id)
void ClusterManager::handleTimerEvent(const TimerEvent&)
{
UAVCAN_ASSERT(num_known_servers_ < cluster_size_);
if (num_known_servers_ < (cluster_size_ - 1))
/*
* Filling the message
*/
protocol::dynamic_node_id::server::Discovery msg;
msg.configured_cluster_size = cluster_size_;
for (uint8_t i = 0; i < num_known_servers_; i++)
{
publishDiscovery();
UAVCAN_ASSERT(servers_[i].node_id.isUnicast());
msg.known_nodes.push_back(servers_[i].node_id.get());
}
else
msg.known_nodes.push_back(getNode().getNodeID().get());
UAVCAN_ASSERT(msg.known_nodes.size() == (num_known_servers_ + 1));
/*
* Broadcasting
*/
UAVCAN_TRACE("dynamic_node_id_server_impl::ClusterManager", "Broadcasting Discovery message; known nodes: %d of %d",
int(msg.known_nodes.size()), int(cluster_size_));
const int res = discovery_pub_.broadcast(msg);
if (res < 0)
{
UAVCAN_TRACE("dynamic_node_id_server_impl::ClusterManager", "Cluster is fully discovered, no more broadcasts");
UAVCAN_TRACE("dynamic_node_id_server_impl::ClusterManager", "Discovery broadcst failed: %d", res);
getNode().registerInternalFailure("Raft discovery broadcast");
}
/*
* Termination condition
*/
if (isClusterDiscovered())
{
UAVCAN_TRACE("dynamic_node_id_server_impl::ClusterManager", "Discovery broadcasting timer stopped");
stop();
}
}
@@ -616,7 +645,7 @@ void ClusterManager::handleDiscovery(const ReceivedDataStructure<protocol::dynam
*/
for (uint8_t i = 0; i < msg.known_nodes.size(); i++)
{
if (num_known_servers_ >= (cluster_size_ - 1))
if (isClusterDiscovered())
{
break;
}
@@ -629,39 +658,20 @@ void ClusterManager::handleDiscovery(const ReceivedDataStructure<protocol::dynam
}
/*
* Publishing a new Discovery request if the timer is stopped already and the publishing server needs to
* learn about more servers.
* Publishing a new Discovery request if the publishing server needs to learn about more servers.
*/
if ((msg.configured_cluster_size > msg.known_nodes.size()) && !isRunning())
if (msg.configured_cluster_size > msg.known_nodes.size())
{
publishDiscovery();
startDiscoveryPublishingTimerIfNotRunning();
}
}
void ClusterManager::publishDiscovery()
void ClusterManager::startDiscoveryPublishingTimerIfNotRunning()
{
protocol::dynamic_node_id::server::Discovery msg;
msg.configured_cluster_size = cluster_size_;
for (uint8_t i = 0; i < num_known_servers_; i++)
if (!isRunning())
{
UAVCAN_ASSERT(servers_[i].node_id.isUnicast());
msg.known_nodes.push_back(servers_[i].node_id.get());
}
UAVCAN_ASSERT(msg.known_nodes.size() == num_known_servers_);
msg.known_nodes.push_back(getNode().getNodeID().get());
UAVCAN_TRACE("dynamic_node_id_server_impl::ClusterManager", "Broadcasting Discovery message; known nodes: %d of %d",
int(msg.known_nodes.size()), int(cluster_size_));
const int res = discovery_pub_.broadcast(msg);
if (res < 0)
{
UAVCAN_TRACE("dynamic_node_id_server_impl::ClusterManager", "Discovery broadcst failed: %d", res);
getNode().registerInternalFailure("Raft discovery broadcast");
startPeriodic(
MonotonicDuration::fromMSec(protocol::dynamic_node_id::server::Discovery::BROADCASTING_INTERVAL_MS));
}
}
@@ -726,7 +736,7 @@ int ClusterManager::init(const uint8_t init_cluster_size)
return res;
}
startPeriodic(MonotonicDuration::fromMSec(protocol::dynamic_node_id::server::Discovery::BROADCASTING_INTERVAL_MS));
startDiscoveryPublishingTimerIfNotRunning();
/*
* Misc