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TransferReceiver: removed field for buffer manager key in order to save some memory (at least 2 bytes)

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This commit is contained in:
Pavel Kirienko
2014-02-11 19:27:52 +04:00
parent 8a007c8522
commit fe2126536d
3 changed files with 102 additions and 96 deletions
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libuavcan/include/uavcan/internal/transport/transfer_receiver.hpp
+3 -6
View File
@@ -30,7 +30,6 @@ private:
uint64_t first_frame_ts_utc_;
uint32_t transfer_interval_;
ITransferBufferManager* bufmgr_;
TransferBufferManagerKey bufmgr_key_;
TransferID tid_;
uint8_t iface_index_;
uint8_t next_frame_index_;
@@ -43,7 +42,7 @@ private:
void prepareForNextTransfer();
bool validate(const RxFrame& frame) const;
ResultCode receive(const RxFrame& frame);
ResultCode receive(const RxFrame& frame, const TransferBufferManagerKey& bufmgr_key);
TransferReceiver(const TransferReceiver&); // = delete (not needed)
@@ -58,23 +57,21 @@ public:
, next_frame_index_(0)
{ }
TransferReceiver(ITransferBufferManager* bufmgr, const TransferBufferManagerKey& bufmgr_key)
TransferReceiver(ITransferBufferManager* bufmgr)
: prev_transfer_ts_monotonic_(0)
, this_transfer_ts_monotonic_(0)
, first_frame_ts_utc_(0)
, transfer_interval_(DEFAULT_TRANSFER_INTERVAL)
, bufmgr_(bufmgr)
, bufmgr_key_(bufmgr_key)
, iface_index_(IFACE_INDEX_NOTSET)
, next_frame_index_(0)
{
assert(bufmgr);
assert(bufmgr_key.getNodeID() != NODE_ID_BROADCAST);
}
bool isTimedOut(uint64_t ts_monotonic) const;
ResultCode addFrame(const RxFrame& frame);
ResultCode addFrame(const RxFrame& frame, const TransferBufferManagerKey& bufmgr_key);
uint64_t getLastTransferTimestampMonotonic() const { return prev_transfer_ts_monotonic_; }
uint64_t getLastTransferTimestampUtc() const { return first_frame_ts_utc_; }
libuavcan/src/transport/transfer_receiver.cpp
+12 -10
View File
@@ -86,7 +86,8 @@ bool TransferReceiver::validate(const RxFrame& frame) const
return true;
}
TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame)
TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame,
const TransferBufferManagerKey& bufmgr_key)
{
if (frame.frame_index == 0)
{
@@ -96,15 +97,15 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame)
if ((frame.frame_index == 0) && frame.last_frame) // Single-frame transfer
{
bufmgr_->remove(bufmgr_key_);
bufmgr_->remove(bufmgr_key);
updateTransferTimings();
prepareForNextTransfer();
return RESULT_SINGLE_FRAME;
}
TransferBufferBase* buf = bufmgr_->access(bufmgr_key_);
TransferBufferBase* buf = bufmgr_->access(bufmgr_key);
if (buf == NULL)
buf = bufmgr_->create(bufmgr_key_);
buf = bufmgr_->create(bufmgr_key);
if (buf == NULL)
{
UAVCAN_TRACE("TransferReceiver", "Failed to access the buffer, %s", frame.toString().c_str());
@@ -116,7 +117,7 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame)
if (res != frame.payload_len)
{
UAVCAN_TRACE("TransferReceiver", "Buffer write failure [%i], %s", res, frame.toString().c_str());
bufmgr_->remove(bufmgr_key_);
bufmgr_->remove(bufmgr_key);
prepareForNextTransfer();
return RESULT_NOT_COMPLETE;
}
@@ -140,11 +141,12 @@ bool TransferReceiver::isTimedOut(uint64_t ts_monotonic) const
return (ts_monotonic - ts) > (uint64_t(transfer_interval_) * INTERVAL_MULT);
}
TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame)
TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame,
const TransferBufferManagerKey& bufmgr_key)
{
assert(bufmgr_);
assert(bufmgr_key_.getNodeID() == frame.source_node_id);
assert(bufmgr_key_.getTransferType() == frame.transfer_type);
assert(bufmgr_key.getNodeID() == frame.source_node_id);
assert(bufmgr_key.getTransferType() == frame.transfer_type);
if ((frame.ts_monotonic == 0) ||
(frame.ts_monotonic < prev_transfer_ts_monotonic_) ||
@@ -172,7 +174,7 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame)
"Restart [not_inited=%i, iface_timeout=%i, recv_timeout=%i, same_iface=%i, first_frame=%i, tid_rel=%i], %s",
int(not_initialized), int(iface_timed_out), int(receiver_timed_out), int(same_iface), int(first_fame),
int(tid_rel), frame.toString().c_str());
bufmgr_->remove(bufmgr_key_);
bufmgr_->remove(bufmgr_key);
iface_index_ = frame.iface_index;
tid_ = frame.transfer_id;
next_frame_index_ = 0;
@@ -186,7 +188,7 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame)
if (!validate(frame))
return RESULT_NOT_COMPLETE;
return receive(frame);
return receive(frame, bufmgr_key);
}
}
libuavcan/test/transport/transfer_receiver.cpp
+87 -80
View File
@@ -62,7 +62,7 @@ struct Context
: bufmgr(&poolmgr)
{
assert(poolmgr.allocate(1) == NULL);
receiver = uavcan::TransferReceiver(&bufmgr, RxFrameGenerator::DEFAULT_KEY);
receiver = uavcan::TransferReceiver(&bufmgr);
}
~Context()
@@ -101,6 +101,7 @@ TEST(TransferReceiver, Basic)
{
using uavcan::TransferReceiver;
Context<32> context;
const uavcan::TransferBufferManagerKey bk = RxFrameGenerator::DEFAULT_KEY;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@@ -114,7 +115,7 @@ TEST(TransferReceiver, Basic)
/*
* Single frame transfer with zero ts, must be ignored
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "Foo", 0, true, 0, 0)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "Foo", 0, true, 0, 0), bk));
ASSERT_EQ(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_EQ(0, rcv.getLastTransferTimestampMonotonic());
@@ -122,8 +123,8 @@ TEST(TransferReceiver, Basic)
* Valid compound transfer
* Args: iface_index, data, frame_index, last, transfer_id, timestamp
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 0, 100)));
CHECK_COMPLETE(rcv.addFrame(gen(0, "foo", 1, true, 0, 200)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 0, 100), bk));
CHECK_COMPLETE(rcv.addFrame(gen(0, "foo", 1, true, 0, 200), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678foo"));
ASSERT_EQ(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval()); // Not initialized yet
@@ -132,15 +133,15 @@ TEST(TransferReceiver, Basic)
/*
* Compound transfer mixed with invalid frames; buffer was not released explicitly
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, false, 0, 300))); // Previous TID, rejected
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "rty", 0, false, 0, 300))); // Previous TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 1, 1000)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", 0, false, 1, 1100))); // Old FI
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "abcdefgh", 1, false, 1, 1200)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "45678910", 1, false, 2, 1300))); // Next TID, but FI > 0
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 2, true, 1, 1300))); // Wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 31,true, 1, 1300))); // Unexpected FI
CHECK_COMPLETE( rcv.addFrame(gen(0, "", 2, true, 1, 1300)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, false, 0, 300), bk)); // Previous TID, rejected
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "rty", 0, false, 0, 300), bk)); // Previous TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 1, 1000), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", 0, false, 1, 1100), bk)); // Old FI
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "abcdefgh", 1, false, 1, 1200), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "45678910", 1, false, 2, 1300), bk)); // Next TID, but FI > 0
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 2, true, 1, 1300), bk)); // Wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 31,true, 1, 1300), bk)); // Unexpected FI
CHECK_COMPLETE( rcv.addFrame(gen(0, "", 2, true, 1, 1300), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678abcdefgh"));
ASSERT_GT(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
@@ -153,49 +154,49 @@ TEST(TransferReceiver, Basic)
/*
* Single-frame transfers
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, true, 1, 2000))); // Previous TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 2, 2100))); // Wrong iface
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 2, 2200)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, true, 1, 2000), bk)); // Previous TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 2, 2100), bk)); // Wrong iface
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 2, 2200), bk));
ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer must be removed
ASSERT_GT(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_EQ(2200, rcv.getLastTransferTimestampMonotonic());
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", 0, true, 3, 2500)));
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", 0, true, 3, 2500), bk));
ASSERT_EQ(2500, rcv.getLastTransferTimestampMonotonic());
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 0, 3000))); // Old TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 15,3100))); // Old TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 3, 3200))); // Old TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 0, 3300))); // Old TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 15,3400))); // Old TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 3, 3500))); // Old TID, wrong iface
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", 0, true, 8, 3600)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 0, 3000), bk)); // Old TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 15,3100), bk)); // Old TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", 0, true, 3, 3200), bk)); // Old TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 0, 3300), bk)); // Old TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 15,3400), bk)); // Old TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", 0, true, 3, 3500), bk)); // Old TID, wrong iface
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", 0, true, 8, 3600), bk));
ASSERT_EQ(3600, rcv.getLastTransferTimestampMonotonic());
/*
* Timeouts
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 9, 100000))); // Wrong iface - ignored
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 10, 600000))); // Accepted due to iface timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 9, 100000), bk)); // Wrong iface - ignored
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 10, 600000), bk)); // Accepted due to iface timeout
ASSERT_EQ(600000, rcv.getLastTransferTimestampMonotonic());
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, true, 11, 600100)));// Ignored - old iface 0
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 11, 600100)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 0, true, 11, 600100), bk));// Ignored - old iface 0
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", 0, true, 11, 600100), bk));
ASSERT_EQ(600100, rcv.getLastTransferTimestampMonotonic());
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 11, 600100)));// Old TID
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 11, 100000000)));// Accepted - global timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", 0, true, 11, 600100), bk));// Old TID
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 11, 100000000), bk));// Accepted - global timeout
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 12, 100000100)));
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", 0, true, 12, 100000100), bk));
ASSERT_EQ(100000100, rcv.getLastTransferTimestampMonotonic());
ASSERT_TRUE(rcv.isTimedOut(900000000));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 11, 900000000)));// Global timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 11, 900000100)));// Wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 1, true, 11, 900000200)));// Wrong iface
CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", 1, true, 11, 900000200)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 11, 900000000), bk));// Global timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 11, 900000100), bk));// Wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", 1, true, 11, 900000200), bk));// Wrong iface
CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", 1, true, 11, 900000200), bk));
ASSERT_EQ(900000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_FALSE(rcv.isTimedOut(1000));
ASSERT_FALSE(rcv.isTimedOut(900000200));
@@ -217,6 +218,7 @@ TEST(TransferReceiver, Basic)
TEST(TransferReceiver, OutOfBufferSpace_32bytes)
{
Context<32> context;
const uavcan::TransferBufferManagerKey bk = RxFrameGenerator::DEFAULT_KEY;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@@ -224,11 +226,11 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
/*
* Simple transfer, maximum buffer length
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 10, 100000000))); // 8
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 10, 100000100))); // 16
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 10, 100000200))); // 24
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 10, 100000300))); // 32
CHECK_COMPLETE( rcv.addFrame(gen(1, "", 4, true, 10, 100000400))); // 32
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 10, 100000000), bk)); // 8
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 10, 100000100), bk)); // 16
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 10, 100000200), bk)); // 24
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 10, 100000300), bk)); // 32
CHECK_COMPLETE( rcv.addFrame(gen(1, "", 4, true, 10, 100000400), bk)); // 32
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678123456781234567812345678"));
@@ -236,11 +238,11 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
/*
* Transfer longer than available buffer space
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 11, 100001000))); // 8
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 11, 100001100))); // 16
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 11, 100001200))); // 24
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 11, 100001200))); // 32
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 4, true, 11, 100001300))); // 40 // EOT, ignored - lost sync
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 11, 100001000), bk)); // 8
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 11, 100001100), bk)); // 16
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 2, false, 11, 100001200), bk)); // 24
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 3, false, 11, 100001200), bk)); // 32
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 4, true, 11, 100001300), bk)); // 40 // EOT, ignored - lost sync
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer should be removed
@@ -250,6 +252,7 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
TEST(TransferReceiver, UnterminatedTransfer)
{
Context<256> context;
const uavcan::TransferBufferManagerKey bk = RxFrameGenerator::DEFAULT_KEY;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@@ -257,10 +260,10 @@ TEST(TransferReceiver, UnterminatedTransfer)
std::string content;
for (int i = 0; i <= uavcan::Frame::FRAME_INDEX_MAX; i++)
{
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", i, false, 0, 1000 + i))); // Last one will be dropped
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", i, false, 0, 1000 + i), bk)); // Last one will be dropped
content += "12345678";
}
CHECK_COMPLETE(rcv.addFrame(gen(1, "12345678", uavcan::Frame::FRAME_INDEX_MAX, true, 0, 1100)));
CHECK_COMPLETE(rcv.addFrame(gen(1, "12345678", uavcan::Frame::FRAME_INDEX_MAX, true, 0, 1100), bk));
ASSERT_EQ(1000, rcv.getLastTransferTimestampMonotonic());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), content));
}
@@ -269,16 +272,17 @@ TEST(TransferReceiver, UnterminatedTransfer)
TEST(TransferReceiver, OutOfOrderFrames)
{
Context<32> context;
const uavcan::TransferBufferManagerKey bk = RxFrameGenerator::DEFAULT_KEY;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 10, 100000000)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 3, false, 10, 100000100))); // Out of order
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 2, true, 10, 100000200))); // Out of order
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 10, 100000300)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 4, true, 10, 100000200))); // Out of order
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 10, 100000400)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 10, 100000000), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 3, false, 10, 100000100), bk)); // Out of order
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 2, true, 10, 100000200), bk)); // Out of order
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 10, 100000300), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 4, true, 10, 100000200), bk)); // Out of order
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 10, 100000400), bk));
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
@@ -288,6 +292,7 @@ TEST(TransferReceiver, OutOfOrderFrames)
TEST(TransferReceiver, IntervalMeasurement)
{
Context<32> context;
const uavcan::TransferBufferManagerKey bk = RxFrameGenerator::DEFAULT_KEY;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@@ -298,9 +303,9 @@ TEST(TransferReceiver, IntervalMeasurement)
for (int i = 0; i < 1000; i++)
{
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, tid.get(), timestamp)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, tid.get(), timestamp)));
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, tid.get(), timestamp)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, tid.get(), timestamp), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, tid.get(), timestamp), bk));
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, tid.get(), timestamp), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
ASSERT_EQ(timestamp, rcv.getLastTransferTimestampMonotonic());
@@ -316,6 +321,7 @@ TEST(TransferReceiver, IntervalMeasurement)
TEST(TransferReceiver, Restart)
{
Context<32> context;
const uavcan::TransferBufferManagerKey bk = RxFrameGenerator::DEFAULT_KEY;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@@ -323,30 +329,30 @@ TEST(TransferReceiver, Restart)
/*
* This transfer looks complete, but must be ignored because of large delay after the first frame
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 0, false, 0, 100))); // Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 1, false, 0, 10000100))); // Continue 10 sec later, expired
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 2, true, 0, 10000200))); // Ignored
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 0, false, 0, 100), bk)); // Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 1, false, 0, 10000100), bk));// Continue 10 sec later, expired
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 2, true, 0, 10000200), bk));// Ignored
/*
* Begins immediately after, gets an iface timeout but completes OK
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 0, 10000300))); // Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 0, 13000300))); // Continue 3 sec later, iface timeout
CHECK_COMPLETE( rcv.addFrame(gen(1, "12345678", 2, true, 0, 13000400))); // OK nevertheless
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 0, 10000300), bk));// Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 1, false, 0, 13000300), bk));// 3 sec later, iface timeout
CHECK_COMPLETE( rcv.addFrame(gen(1, "12345678", 2, true, 0, 13000400), bk));// OK nevertheless
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "123456781234567812345678"));
/*
* Begins OK, gets an iface timeout, switches to another iface
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 0, false, 1, 13000500))); // Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 1, false, 1, 16000500))); // Continue 3 sec later, iface timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 1, false, 1, 16000600))); // Same TID on another iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 1, false, 2, 16000700))); // Not first frame - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 2, 16000800))); // First frame, another iface - restart
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 2, true, 1, 16000600))); // Old iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 1, false, 2, 16000900))); // Continuing
CHECK_COMPLETE( rcv.addFrame(gen(0, "12345678", 2, true, 2, 16000910))); // Done
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 0, false, 1, 13000500), bk));// Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 1, false, 1, 16000500), bk));// 3 sec later, iface timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 1, false, 1, 16000600), bk));// Same TID, another iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", 1, false, 2, 16000700), bk));// Not first frame - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 2, 16000800), bk));// First, another iface - restart
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", 2, true, 1, 16000600), bk));// Old iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 1, false, 2, 16000900), bk));// Continuing
CHECK_COMPLETE( rcv.addFrame(gen(0, "12345678", 2, true, 2, 16000910), bk));// Done
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "123456781234567812345678"));
}
@@ -355,6 +361,7 @@ TEST(TransferReceiver, Restart)
TEST(TransferReceiver, UtcTransferTimestamping)
{
Context<32> context;
const uavcan::TransferBufferManagerKey bk = RxFrameGenerator::DEFAULT_KEY;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
@@ -362,9 +369,9 @@ TEST(TransferReceiver, UtcTransferTimestamping)
/*
* Zero UTC timestamp must be preserved
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 0, 1, 0)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 0, 2, 0)));
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 0, 3, 0)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 0, 1, 0), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 0, 2, 0), bk));
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 0, 3, 0), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
ASSERT_EQ(1, rcv.getLastTransferTimestampMonotonic());
@@ -373,9 +380,9 @@ TEST(TransferReceiver, UtcTransferTimestamping)
/*
* Non-zero UTC timestamp
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 1, 4, 123))); // This UTC is going to be preserved
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 1, 5, 0))); // Following are ignored
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 1, 6, 42)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", 0, false, 1, 4, 123), bk)); // This UTC is going to be preserved
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", 1, false, 1, 5, 0), bk)); // Following are ignored
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", 2, true, 1, 6, 42), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
ASSERT_EQ(4, rcv.getLastTransferTimestampMonotonic());
@@ -384,16 +391,16 @@ TEST(TransferReceiver, UtcTransferTimestamping)
/*
* Single-frame transfers
*/
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "abc", 0, true, 2, 10, 100000000))); // Exact value is irrelevant (100kk ok)
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "abc", 0, true, 2, 10, 100000000), bk)); // Exact value is irrelevant
ASSERT_EQ(10, rcv.getLastTransferTimestampMonotonic());
ASSERT_EQ(100000000, rcv.getLastTransferTimestampUtc());
/*
* Restart recovery
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 1, 100000000, 800000000)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", 1, false, 1, 100000001, 300000000)));
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", 2, true, 1, 100000002, 900000000)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", 0, false, 1, 100000000, 800000000), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", 1, false, 1, 100000001, 300000000), bk));
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", 2, true, 1, 100000002, 900000000), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwertyuiabcd"));
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic());