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PX4-Autopilot/libuavcan/test/transport/transfer_receiver.cpp
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/*
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <algorithm>
#include <gtest/gtest.h>
#include <uavcan/internal/transport/transfer_receiver.hpp>
struct RxFrameGenerator
{
static const uavcan::TransferBufferManagerKey DEFAULT_KEY;
uint16_t data_type_id;
uavcan::TransferBufferManagerKey bufmgr_key;
RxFrameGenerator(uint16_t data_type_id, uavcan::TransferType ttype,
const uavcan::TransferBufferManagerKey& bufmgr_key = DEFAULT_KEY)
: data_type_id(data_type_id)
, bufmgr_key(bufmgr_key)
{ }
uavcan::RxFrame operator()(int iface_index, const std::string& data, uint8_t frame_index, bool last,
uint8_t transfer_id, uint64_t ts_monotonic, uint64_t ts_utc = 0)
{
if (data.length() > uavcan::Frame::PAYLOAD_LEN_MAX)
{
std::cerr << "RxFrameGenerator(): Data is too long" << std::endl;
std::exit(1);
}
uavcan::RxFrame frm;
frm.iface_index = iface_index;
frm.ts_monotonic = ts_monotonic;
frm.ts_utc = ts_utc;
frm.data_type_id = data_type_id;
frm.frame_index = frame_index;
frm.last_frame = last;
std::copy(data.begin(), data.end(), frm.payload);
frm.payload_len = data.length();
frm.source_node_id = bufmgr_key.getNodeID();
frm.transfer_id = uavcan::TransferID(transfer_id);
frm.transfer_type = bufmgr_key.getTransferType();
return frm;
}
};
const uavcan::TransferBufferManagerKey RxFrameGenerator::DEFAULT_KEY(42, uavcan::TRANSFER_TYPE_MESSAGE_UNICAST);
template <unsigned int BUFSIZE>
struct Context
{
uavcan::PoolManager<1> poolmgr; // We don't need dynamic memory for this test
uavcan::TransferReceiver receiver; // Must be default constructible and copyable
uavcan::TransferBufferManager<BUFSIZE, 1> bufmgr;
Context()
: bufmgr(&poolmgr)
{
assert(poolmgr.allocate(1) == NULL);
}
~Context()
{
// We need to destroy the receiver before its buffer manager
receiver = uavcan::TransferReceiver();
}
};
static bool matchBufferContent(const uavcan::TransferBufferBase* tbb, const std::string& content)
{
uint8_t data[1024];
std::fill(data, data + sizeof(data), 0);
if (content.length() > sizeof(data))
{
std::cerr << "matchBufferContent(): Content is too long" << std::endl;
std::exit(1);
}
tbb->read(0, data, content.length());
if (std::equal(content.begin(), content.end(), data))
return true;
std::cout << "Buffer content mismatch:"
<< "\n\tExpected: " << content
<< "\n\tActually: " << reinterpret_cast<const char*>(data)
<< std::endl;
return false;
}
#define CHECK_NOT_COMPLETE(x) ASSERT_EQ(uavcan::TransferReceiver::RESULT_NOT_COMPLETE, (x))
#define CHECK_COMPLETE(x) ASSERT_EQ(uavcan::TransferReceiver::RESULT_COMPLETE, (x))
#define CHECK_SINGLE_FRAME(x) ASSERT_EQ(uavcan::TransferReceiver::RESULT_SINGLE_FRAME, (x))
TEST(TransferReceiver, Basic)
{
using uavcan::TransferReceiver;
Context<32> context;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(&context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
/*
* Empty
*/
ASSERT_EQ(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_EQ(0, rcv.getLastTransferTimestampMonotonic());
/*
* Single frame transfer with zero ts, must be ignored
*/
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());
/*
* 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), 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
ASSERT_EQ(100, rcv.getLastTransferTimestampMonotonic());
/*
* Compound transfer mixed with invalid frames; buffer was not released explicitly
*/
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());
ASSERT_LT(TransferReceiver::MIN_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_EQ(1000, rcv.getLastTransferTimestampMonotonic());
ASSERT_FALSE(rcv.isTimedOut(1000));
ASSERT_FALSE(rcv.isTimedOut(5000));
ASSERT_TRUE(rcv.isTimedOut(60000000));
/*
* Single-frame transfers
*/
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), bk));
ASSERT_EQ(2500, rcv.getLastTransferTimestampMonotonic());
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), 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), 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), 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), bk));
ASSERT_EQ(100000100, rcv.getLastTransferTimestampMonotonic());
ASSERT_TRUE(rcv.isTimedOut(900000000));
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));
ASSERT_TRUE(rcv.isTimedOut(1000 * 1000000));
ASSERT_LT(TransferReceiver::DEFAULT_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_LE(TransferReceiver::MIN_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_GE(TransferReceiver::MAX_TRANSFER_INTERVAL, rcv.getInterval());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "12345678qwe"));
/*
* Destruction
*/
ASSERT_TRUE(bufmgr.access(gen.bufmgr_key));
context.receiver.~TransferReceiver(); // TransferReceiver does not own the buffer, it must not be released!
ASSERT_TRUE(bufmgr.access(gen.bufmgr_key)); // Making sure that the buffer is still there
}
TEST(TransferReceiver, OutOfBufferSpace_32bytes)
{
Context<32> context;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(&context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
/*
* Simple transfer, maximum buffer length
*/
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"));
/*
* Transfer longer than available buffer space
*/
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
}
TEST(TransferReceiver, UnterminatedTransfer)
{
Context<256> context;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(&context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
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), bk)); // Last one will be dropped
content += "12345678";
}
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));
}
TEST(TransferReceiver, OutOfOrderFrames)
{
Context<32> context;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(&context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
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"));
}
TEST(TransferReceiver, IntervalMeasurement)
{
Context<32> context;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(&context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
static const int INTERVAL = 1000;
uavcan::TransferID tid;
uint64_t timestamp = 100000000;
for (int i = 0; i < 1000; i++)
{
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());
timestamp += INTERVAL;
tid.increment();
}
ASSERT_EQ(INTERVAL, rcv.getInterval());
}
TEST(TransferReceiver, Restart)
{
Context<32> context;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(&context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
/*
* 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), 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), 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), 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"));
}
TEST(TransferReceiver, UtcTransferTimestamping)
{
Context<32> context;
RxFrameGenerator gen(789, uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(&context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
/*
* Zero UTC timestamp must be preserved
*/
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());
ASSERT_EQ(0, rcv.getLastTransferTimestampUtc());
/*
* Non-zero UTC timestamp
*/
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());
ASSERT_EQ(123, rcv.getLastTransferTimestampUtc());
/*
* Single-frame transfers
*/
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), 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());
ASSERT_EQ(800000000, rcv.getLastTransferTimestampUtc());
}
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