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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/transport/transfer_receiver.hpp>
#include "../clock.hpp"
#include "transfer_test_helpers.hpp"
/*
* Beware!
* The code you're about to look at desperately needs some cleaning.
*/
enum SotEotToggle
{
SET000 = 0,
SET001 = 1,
SET010 = 2,
SET011 = 3,
SET100 = 4,
SET101 = 5, // Illegal
SET110 = 6,
SET111 = 7 // Illegal
};
struct RxFrameGenerator
{
static const uavcan::TransferBufferManagerKey DEFAULT_KEY;
enum { TARGET_NODE_ID = 126 };
uint16_t data_type_id;
uavcan::TransferBufferManagerKey bufmgr_key;
RxFrameGenerator(uint16_t data_type_id, const uavcan::TransferBufferManagerKey& bufmgr_key = DEFAULT_KEY)
: data_type_id(data_type_id)
, bufmgr_key(bufmgr_key)
{ }
/// iface_index, data, set, transfer_id, ts_monotonic [, ts_utc]
uavcan::RxFrame operator()(uint8_t iface_index, const std::string& data, SotEotToggle set,
uint8_t transfer_id, uint64_t ts_monotonic, uint64_t ts_utc = 0)
{
const uavcan::NodeID dst_nid =
(bufmgr_key.getTransferType() == uavcan::TransferTypeMessageBroadcast) ?
uavcan::NodeID::Broadcast : TARGET_NODE_ID;
uavcan::Frame frame(data_type_id, bufmgr_key.getTransferType(), bufmgr_key.getNodeID(),
dst_nid, transfer_id);
frame.setStartOfTransfer((set & (1 << 2)) != 0);
frame.setEndOfTransfer((set & (1 << 1)) != 0);
if ((set & (1 << 0)) != 0)
{
frame.flipToggle();
}
EXPECT_EQ(data.length(),
frame.setPayload(reinterpret_cast<const uint8_t*>(data.c_str()), unsigned(data.length())));
uavcan::RxFrame output(frame, uavcan::MonotonicTime::fromUSec(ts_monotonic),
uavcan::UtcTime::fromUSec(ts_utc), iface_index);
//std::cout << "Generated frame: " << output.toString() << std::endl;
return output;
}
};
const uavcan::TransferBufferManagerKey RxFrameGenerator::DEFAULT_KEY(42, uavcan::TransferTypeMessageBroadcast);
template <unsigned BufSize>
struct Context
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 100, uavcan::MemPoolBlockSize> pool;
uavcan::TransferReceiver receiver; // Must be default constructible and copyable
uavcan::TransferBufferManager bufmgr;
Context() :
bufmgr(BufSize, pool)
{ }
~Context()
{
// We need to destroy the receiver before its buffer manager
receiver = uavcan::TransferReceiver();
}
};
static bool matchBufferContent(const uavcan::ITransferBuffer* 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, unsigned(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::ResultNotComplete, (x))
#define CHECK_COMPLETE(x) ASSERT_EQ(uavcan::TransferReceiver::ResultComplete, (x))
#define CHECK_SINGLE_FRAME(x) ASSERT_EQ(uavcan::TransferReceiver::ResultSingleFrame, (x))
TEST(TransferReceiver, Basic)
{
using uavcan::TransferReceiver;
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::TransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
std::cout << "sizeof(TransferReceiver): " << sizeof(TransferReceiver) << std::endl;
/*
* Empty
*/
ASSERT_EQ(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval());
ASSERT_EQ(0, rcv.getLastTransferTimestampMonotonic().toUSec());
/*
* Single frame transfer with zero ts, must be ignored
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "Foo", SET110, 0, 0), bk));
ASSERT_EQ(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval());
ASSERT_EQ(0, rcv.getLastTransferTimestampMonotonic().toUSec());
/*
* Valid compound transfer
* Args: iface_index, data, set, transfer_id, ts_monotonic
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x34\x12" "34567", SET100, 0, 100), bk));
CHECK_COMPLETE( rcv.addFrame(gen(0, "foo", SET011, 0, 200), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567foo"));
ASSERT_EQ(0x1234, rcv.getLastTransferCrc());
ASSERT_EQ(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval()); // Not initialized yet
ASSERT_EQ(100, rcv.getLastTransferTimestampMonotonic().toUSec());
/*
* Compound transfer mixed with invalid frames; buffer was not released explicitly
* Args: iface_index, data, set, transfer_id, ts_monotonic
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", SET100, 0, 300), bk)); // Previous TID, rejected
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "rty", SET100, 0, 300), bk)); // Previous TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x9a\x78" "34567", SET100, 1, 1000), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyu", SET100, 1, 1100), bk)); // Old toggle
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyu", SET000, 1, 1100), bk)); // Old toggle
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "abcdefg", SET001, 1, 1200), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "4567891", SET001, 2, 1300), bk)); // Next TID, but not SOT
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", SET010, 1, 1300), bk)); // Wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", SET001, 1, 1300), bk)); // Unexpected toggle
CHECK_COMPLETE( rcv.addFrame(gen(0, "", SET010, 1, 1300), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567abcdefg"));
ASSERT_EQ(0x789A, rcv.getLastTransferCrc());
ASSERT_GE(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval());
ASSERT_LE(TransferReceiver::getMinTransferInterval(), rcv.getInterval());
ASSERT_EQ(1000, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_FALSE(rcv.isTimedOut(tsMono(1000)));
ASSERT_FALSE(rcv.isTimedOut(tsMono(5000)));
ASSERT_TRUE(rcv.isTimedOut(tsMono(60000000)));
/*
* Single-frame transfers
* Args: iface_index, data, set, transfer_id, ts_monotonic
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", SET110, 1, 2000), bk)); // Previous TID
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", SET110, 2, 2100), bk)); // Wrong iface
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", SET110, 2, 2200), bk));
ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer must be removed
ASSERT_GT(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval());
ASSERT_EQ(2200, rcv.getLastTransferTimestampMonotonic().toUSec());
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", SET110, 3, 2500), bk));
ASSERT_EQ(2500, rcv.getLastTransferTimestampMonotonic().toUSec());
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", SET110, 0, 3000), bk));
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", SET110, 1, 3100), bk));
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", SET110, 3, 3200), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", SET110, 0, 3300), bk)); // Old TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", SET110, 2, 3400), bk)); // Old TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", SET110, 3, 3500), bk)); // Old TID, wrong iface
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "", SET110, 4, 3600), bk));
ASSERT_EQ(3600, rcv.getLastTransferTimestampMonotonic().toUSec());
std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
/*
* Timeouts
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", SET110, 1, 5000), bk)); // Wrong iface - ignored
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", SET110, 6, 1500000), bk)); // Accepted due to iface timeout
ASSERT_EQ(1500000, rcv.getLastTransferTimestampMonotonic().toUSec());
std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", SET110, 7, 1500100), bk)); // Ignored - old iface 0
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "qwe", SET110, 7, 1500100), bk));
ASSERT_EQ(1500100, rcv.getLastTransferTimestampMonotonic().toUSec());
std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwe", SET110, 7, 1500100), bk)); // Old TID
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", SET110, 7, 100000000), bk)); // Accepted - global timeout
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", SET110, 8, 100000100), bk));
ASSERT_EQ(100000100, rcv.getLastTransferTimestampMonotonic().toUSec());
std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
ASSERT_TRUE(rcv.isTimedOut(tsMono(900000000)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "\x78\x56" "34567", SET100, 0, 900000000), bk)); // Global timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, 0, 900000100), bk)); // Wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", SET011, 0, 900000200), bk)); // Wrong iface
CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", SET011, 0, 900000200), bk));
ASSERT_EQ(900000000, rcv.getLastTransferTimestampMonotonic().toUSec());
std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
ASSERT_FALSE(rcv.isTimedOut(tsMono(1000)));
ASSERT_FALSE(rcv.isTimedOut(tsMono(900000300)));
ASSERT_TRUE(rcv.isTimedOut(tsMono(9990000000)));
ASSERT_LT(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval());
ASSERT_LE(TransferReceiver::getMinTransferInterval(), rcv.getInterval());
ASSERT_GE(TransferReceiver::getMaxTransferInterval(), rcv.getInterval());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwe"));
ASSERT_EQ(0x5678, rcv.getLastTransferCrc());
/*
* 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::TransferReceiver& rcv = context.receiver;
uavcan::TransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
/*
* Simple transfer, maximum buffer length
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 1, 100000000), bk)); // 5
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 1, 100000100), bk)); // 12
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET000, 1, 100000200), bk)); // 19
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 1, 100000300), bk)); // 26
CHECK_COMPLETE( rcv.addFrame(gen(1, "123456", SET010, 1, 100000400), bk)); // 32
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567123456712345671234567123456"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc()); // CRC from "12", which is 0x3231 in little endian
/*
* Transfer longer than available buffer space
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 2, 100001000), bk)); // 5
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 2, 100001100), bk)); // 12
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET000, 2, 100001200), bk)); // 19
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 2, 100001200), bk)); // 26
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET010, 2, 100001300), bk)); // 33 // EOT, ignored - lost sync
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec()); // Timestamp will not be overriden
ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer should be removed
ASSERT_EQ(1, rcv.yieldErrorCount());
ASSERT_EQ(0, rcv.yieldErrorCount());
}
TEST(TransferReceiver, OutOfOrderFrames)
{
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::TransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 7, 100000000), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET000, 7, 100000100), bk)); // Out of order
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET010, 7, 100000200), bk)); // Out of order
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyu", SET001, 7, 100000300), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET011, 7, 100000200), bk)); // Out of order
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 7, 100000400), bk));
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwertyuabcd"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
ASSERT_EQ(3, rcv.yieldErrorCount());
ASSERT_EQ(0, rcv.yieldErrorCount());
}
TEST(TransferReceiver, IntervalMeasurement)
{
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::TransferBufferManager& 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, "1234567", SET100, tid.get(), timestamp), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyu", SET001, tid.get(), timestamp), bk));
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, tid.get(), timestamp), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwertyuabcd"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
ASSERT_EQ(timestamp, rcv.getLastTransferTimestampMonotonic().toUSec());
timestamp += uint64_t(INTERVAL);
tid.increment();
}
ASSERT_EQ(INTERVAL, rcv.getInterval().toUSec());
}
TEST(TransferReceiver, Restart)
{
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::TransferBufferManager& 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
* Args: iface_index, data, set, transfer_id, ts_monotonic [, ts_utc]
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET100, 0, 100), bk)); // Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 0, 100000100), bk)); // Continue 100 sec later, expired
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET010, 0, 100000200), bk)); // Ignored
/*
* Begins immediately after, encounters a delay 0.9 sec but completes OK
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 0, 100000300), bk)); // Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 0, 100900300), bk)); // 0.9 sec later
CHECK_COMPLETE( rcv.addFrame(gen(1, "1234567", SET010, 0, 100900400), bk)); // OK nevertheless
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456712345671234567"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
/*
* Begins OK, gets a timeout, switches to another iface
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET100, 1, 103000500), bk)); // Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET001, 1, 105000500), bk)); // 2 sec later, timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 1, 105000600), bk)); // Same TID, another iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 2, 105000700), bk)); // Not first frame - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, 2, 105000800), bk)); // First, another iface - restart
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET010, 1, 105000600), bk)); // Old iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET001, 2, 105000900), bk)); // Continuing
CHECK_COMPLETE( rcv.addFrame(gen(0, "1234567", SET010, 2, 105000910), bk)); // Done
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456712345671234567"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
ASSERT_EQ(4, rcv.yieldErrorCount());
ASSERT_EQ(0, rcv.yieldErrorCount());
}
TEST(TransferReceiver, UtcTransferTimestamping)
{
Context<32> context;
RxFrameGenerator gen(789);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::TransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
/*
* Zero UTC timestamp must be preserved
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 0, 1, 0), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyu", SET001, 0, 2, 0), bk));
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 0, 3, 0), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwertyuabcd"));
ASSERT_EQ(1, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_EQ(0, rcv.getLastTransferTimestampUtc().toUSec());
/*
* Non-zero UTC timestamp
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 1, 4, 123), bk)); // This UTC is going to be preserved
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyu", SET001, 1, 5, 0), bk)); // Following are ignored
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 1, 6, 42), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwertyuabcd"));
ASSERT_EQ(4, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_EQ(123, rcv.getLastTransferTimestampUtc().toUSec());
/*
* Single-frame transfers
* iface_index, data, set, transfer_id, ts_monotonic
*/
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "abc", SET110, 2, 10, 100000000), bk)); // Exact value is irrelevant
ASSERT_EQ(10, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_EQ(100000000, rcv.getLastTransferTimestampUtc().toUSec());
/*
* Restart recovery
*/
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, 1, 100000000, 800000000), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyu", SET001, 1, 100000001, 300000000), bk));
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET010, 1, 100000002, 900000000), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwertyuabcd"));
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_EQ(800000000, rcv.getLastTransferTimestampUtc().toUSec());
}
TEST(TransferReceiver, HeaderParsing)
{
static const std::string SFT_PAYLOAD = "1234567";
uavcan::TransferID tid;
/*
* Broadcast
*/
{
Context<32> context;
RxFrameGenerator gen(123);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::TransferBufferManager& bufmgr = context.bufmgr;
/*
* MFT, message broadcasting
*/
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), uavcan::TransferTypeMessageBroadcast);
uavcan::TransferBufferAccessor bk1(context.bufmgr, gen.bufmgr_key);
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, tid.get(), 1), bk1));
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET011, tid.get(), 2), bk1));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567abcd"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
tid.increment();
bk1.remove();
}
/*
* SFT, message broadcasting
*/
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), uavcan::TransferTypeMessageBroadcast);
uavcan::TransferBufferAccessor bk(context.bufmgr, gen.bufmgr_key);
const uavcan::RxFrame frame = gen(0, SFT_PAYLOAD, SET110, tid.get(), 1000);
CHECK_SINGLE_FRAME(rcv.addFrame(frame, bk));
ASSERT_EQ(0x0000, rcv.getLastTransferCrc()); // Default value - zero
// All bytes are payload, zero overhead
ASSERT_TRUE(std::equal(SFT_PAYLOAD.begin(), SFT_PAYLOAD.end(), frame.getPayloadPtr()));
tid.increment();
}
}
/*
* Unicast
*/
{
Context<32> context;
RxFrameGenerator gen(123);
uavcan::TransferReceiver& rcv = context.receiver;
uavcan::TransferBufferManager& bufmgr = context.bufmgr;
static const uavcan::TransferType ADDRESSED_TRANSFER_TYPES[2] =
{
uavcan::TransferTypeServiceRequest,
uavcan::TransferTypeServiceResponse
};
/*
* MFT, service request/response
*/
for (unsigned i = 0; i < (sizeof(ADDRESSED_TRANSFER_TYPES) / sizeof(ADDRESSED_TRANSFER_TYPES[0])); i++)
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), ADDRESSED_TRANSFER_TYPES[i]);
uavcan::TransferBufferAccessor bk2(context.bufmgr, gen.bufmgr_key);
const uint64_t ts_monotonic = i + 10;
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, tid.get(), ts_monotonic), bk2));
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET011, tid.get(), ts_monotonic), bk2));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567abcd"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
tid.increment();
bk2.remove();
}
/*
* SFT, message unicast, service request/response
*/
for (unsigned i = 0; i < int(sizeof(ADDRESSED_TRANSFER_TYPES) / sizeof(ADDRESSED_TRANSFER_TYPES[0])); i++)
{
gen.bufmgr_key =
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), ADDRESSED_TRANSFER_TYPES[i]);
uavcan::TransferBufferAccessor bk(context.bufmgr, gen.bufmgr_key);
const uavcan::RxFrame frame = gen(0, SFT_PAYLOAD, SET110, tid.get(), i + 10000U);
CHECK_SINGLE_FRAME(rcv.addFrame(frame, bk));
ASSERT_EQ(0x0000, rcv.getLastTransferCrc()); // Default value - zero
// First byte must be ignored
ASSERT_TRUE(std::equal(SFT_PAYLOAD.begin(), SFT_PAYLOAD.end(), frame.getPayloadPtr()));
tid.increment();
}
}
}
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