diff --git a/libuavcan/include/uavcan/internal/transport/transfer_receiver.hpp b/libuavcan/include/uavcan/internal/transport/transfer_receiver.hpp index c61ee1cb57..5861fad125 100644 --- a/libuavcan/include/uavcan/internal/transport/transfer_receiver.hpp +++ b/libuavcan/include/uavcan/internal/transport/transfer_receiver.hpp @@ -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_; } diff --git a/libuavcan/src/transport/transfer_receiver.cpp b/libuavcan/src/transport/transfer_receiver.cpp index bd7a04cd53..cf75487c64 100644 --- a/libuavcan/src/transport/transfer_receiver.cpp +++ b/libuavcan/src/transport/transfer_receiver.cpp @@ -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); } } diff --git a/libuavcan/test/transport/transfer_receiver.cpp b/libuavcan/test/transport/transfer_receiver.cpp index 6194ebd049..36ce00cf0f 100644 --- a/libuavcan/test/transport/transfer_receiver.cpp +++ b/libuavcan/test/transport/transfer_receiver.cpp @@ -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());