libuavcan | Mbed

Users » RuslanUrya » Code » libuavcan » Documentation
Dependents: UAVCAN UAVCAN_Subscriber
Embed: (wiki syntax)
Show/hide line numbers frame.cpp Source File
00001 /*
00002  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
00003  */
00004 
00005 #include <string>
00006 #include <gtest/gtest.h>
00007 #include <uavcan/transport/transfer.hpp>
00008 #include <uavcan/transport/crc.hpp>
00009 #include "../clock.hpp"
00010 #include "can/can.hpp"
00011 
00012 
00013 TEST(Frame, MessageParseCompile)
00014 {
00015     using uavcan::Frame;
00016     using uavcan::CanFrame;
00017     using uavcan::TransferID;
00018     using uavcan::TransferType;
00019 
00020     Frame frame;
00021 
00022     /*
00023      * Priority
00024      * Message Type ID
00025      * Service Not Message
00026      * Source Node ID
00027      */
00028     const uint32_t can_id =
00029         (16 << 24) |    // Priority
00030         (20000 << 8) |  // Message Type ID
00031         (0 << 7) |      // Service Not Message
00032         (42 << 0);      // Source Node ID
00033 
00034     const std::string payload_string = "hello\xD4"; // SET = 110, TID = 20
00035 
00036     /*
00037      * Parse
00038      */
00039     // Invalid CAN frames
00040     ASSERT_FALSE(frame.parse(CanFrame(can_id | CanFrame::FlagRTR, reinterpret_cast<const uint8_t*>(""), 0)));
00041     ASSERT_FALSE(frame.parse(makeCanFrame(can_id, payload_string, STD)));
00042 
00043     // Valid
00044     ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
00045 
00046     EXPECT_EQ(TransferID(20), frame.getTransferID());
00047     EXPECT_TRUE(frame.isStartOfTransfer());
00048     EXPECT_TRUE(frame.isEndOfTransfer());
00049     EXPECT_FALSE(frame.getToggle());
00050     EXPECT_EQ(uavcan::NodeID(42), frame.getSrcNodeID());
00051     EXPECT_TRUE(frame.getDstNodeID().isBroadcast());
00052     EXPECT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
00053     EXPECT_EQ(20000, frame.getDataTypeID().get());
00054     EXPECT_EQ(16, frame.getPriority().get());
00055 
00056     EXPECT_EQ(payload_string.length() - 1, frame.getPayloadLen());
00057     EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
00058                            payload_string.begin()));
00059 
00060     std::cout << frame.toString() << std::endl;
00061 
00062     /*
00063      * Compile
00064      */
00065     CanFrame can_frame;
00066     ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
00067 
00068     ASSERT_TRUE(frame.compile(can_frame));
00069     ASSERT_EQ(can_frame, makeCanFrame(can_id, payload_string, EXT));
00070 
00071     EXPECT_EQ(payload_string.length(), can_frame.dlc);
00072     std::cout << can_frame.toString() << std::endl;
00073     /*
00074      * FUN FACT: comparison of uint8_t with char may fail on the character 0xD4 (depending on the locale),
00075      * because it will be considered a Unicode character. Hence, we do reinterpret_cast<>.
00076      */
00077     EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc,
00078                            reinterpret_cast<const uint8_t*>(&payload_string[0])));
00079 
00080     /*
00081      * Comparison
00082      */
00083     ASSERT_FALSE(Frame() == frame);
00084     ASSERT_TRUE(Frame() != frame);
00085     frame = Frame();
00086     ASSERT_TRUE(Frame() == frame);
00087     ASSERT_FALSE(Frame() != frame);
00088 }
00089 
00090 
00091 TEST(Frame, ServiceParseCompile)
00092 {
00093     using uavcan::Frame;
00094     using uavcan::CanFrame;
00095     using uavcan::TransferID;
00096     using uavcan::TransferType;
00097 
00098     Frame frame;
00099 
00100     /*
00101      * Priority
00102      * Service Type ID
00103      * Request Not Response
00104      * Destination Node ID
00105      * Service Not Message
00106      * Source Node ID
00107      */
00108     const uint32_t can_id =
00109         (31 << 24) |    // Priority
00110         (200 << 16) |   // Service Type ID
00111         (1 << 15) |     // Request Not Response
00112         (0x42 << 8) |   // Destination Node ID
00113         (1 << 7) |      // Service Not Message
00114         (42 << 0);      // Source Node ID
00115 
00116     const std::string payload_string = "hello\x6a"; // SET = 011, TID = 10
00117 
00118     /*
00119      * Parse
00120      */
00121     // Invalid CAN frames
00122     ASSERT_FALSE(frame.parse(CanFrame(can_id | CanFrame::FlagRTR, reinterpret_cast<const uint8_t*>(""), 0)));
00123     ASSERT_FALSE(frame.parse(makeCanFrame(can_id, payload_string, STD)));
00124 
00125     // Valid
00126     ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
00127 
00128     EXPECT_EQ(TransferID(10), frame.getTransferID());
00129     EXPECT_FALSE(frame.isStartOfTransfer());
00130     EXPECT_TRUE(frame.isEndOfTransfer());
00131     EXPECT_TRUE(frame.getToggle());
00132     EXPECT_EQ(uavcan::NodeID(42), frame.getSrcNodeID());
00133     EXPECT_EQ(uavcan::NodeID(0x42), frame.getDstNodeID());
00134     EXPECT_EQ(uavcan::TransferTypeServiceRequest, frame.getTransferType());
00135     EXPECT_EQ(200, frame.getDataTypeID().get());
00136     EXPECT_EQ(31, frame.getPriority().get());
00137 
00138     EXPECT_EQ(payload_string.length(), frame.getPayloadLen() + 1);
00139     EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
00140                            reinterpret_cast<const uint8_t*>(&payload_string[0])));
00141 
00142     std::cout << frame.toString() << std::endl;
00143 
00144     /*
00145      * Compile
00146      */
00147     CanFrame can_frame;
00148     ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
00149 
00150     ASSERT_TRUE(frame.compile(can_frame));
00151     ASSERT_EQ(can_frame, makeCanFrame(can_id, payload_string, EXT));
00152 
00153     EXPECT_EQ(payload_string.length(), can_frame.dlc);
00154     EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc,
00155                            reinterpret_cast<const uint8_t*>(&payload_string[0])));
00156 
00157     /*
00158      * Comparison
00159      */
00160     ASSERT_FALSE(Frame() == frame);
00161     ASSERT_TRUE(Frame() != frame);
00162     frame = Frame();
00163     ASSERT_TRUE(Frame() == frame);
00164     ASSERT_FALSE(Frame() != frame);
00165 }
00166 
00167 
00168 TEST(Frame, AnonymousParseCompile)
00169 {
00170     using uavcan::Frame;
00171     using uavcan::CanFrame;
00172     using uavcan::TransferID;
00173     using uavcan::TransferType;
00174 
00175     Frame frame;
00176 
00177     /*
00178      * Priority
00179      * Discriminator
00180      * Message Type ID
00181      * Service Not Message
00182      * Source Node ID
00183      */
00184     const uint32_t can_id =
00185         (16383 << 10) | // Discriminator
00186         (1 << 8);       // Message Type ID
00187 
00188     const std::string payload_string = "hello\xd4"; // SET = 110, TID = 20
00189 
00190     uavcan::TransferCRC payload_crc;
00191     payload_crc.add(reinterpret_cast<const uint8_t*>(payload_string.c_str()), unsigned(payload_string.length()));
00192 
00193     /*
00194      * Parse
00195      */
00196     ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
00197 
00198     EXPECT_EQ(TransferID(20), frame.getTransferID());
00199     EXPECT_TRUE(frame.isStartOfTransfer());
00200     EXPECT_TRUE(frame.isEndOfTransfer());
00201     EXPECT_FALSE(frame.getToggle());
00202     EXPECT_TRUE(frame.getSrcNodeID().isBroadcast());
00203     EXPECT_TRUE(frame.getDstNodeID().isBroadcast());
00204     EXPECT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
00205     EXPECT_EQ(1, frame.getDataTypeID().get());
00206     EXPECT_EQ(0, frame.getPriority().get());
00207 
00208     EXPECT_EQ(payload_string.length() - 1, frame.getPayloadLen());
00209     EXPECT_TRUE(std::equal(frame.getPayloadPtr(), frame.getPayloadPtr() + frame.getPayloadLen(),
00210                            reinterpret_cast<const uint8_t*>(&payload_string[0])));
00211 
00212     std::cout << frame.toString() << std::endl;
00213 
00214     /*
00215      * Compile
00216      */
00217     const uint32_t DiscriminatorMask = 0x00FFFC00;
00218     const uint32_t NoDiscriminatorMask = 0xFF0003FF;
00219 
00220     CanFrame can_frame;
00221     ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT)));
00222 
00223     ASSERT_TRUE(frame.compile(can_frame));
00224     ASSERT_EQ(can_id & NoDiscriminatorMask & uavcan::CanFrame::MaskExtID,
00225               can_frame.id & NoDiscriminatorMask & uavcan::CanFrame::MaskExtID);
00226 
00227     EXPECT_EQ(payload_string.length(), can_frame.dlc);
00228     EXPECT_TRUE(std::equal(can_frame.data, can_frame.data + can_frame.dlc,
00229                            reinterpret_cast<const uint8_t*>(&payload_string[0])));
00230 
00231     EXPECT_EQ((can_frame.id & DiscriminatorMask & uavcan::CanFrame::MaskExtID) >> 10, payload_crc.get() & 16383);
00232 
00233     /*
00234      * Comparison
00235      */
00236     ASSERT_FALSE(Frame() == frame);
00237     ASSERT_TRUE(Frame() != frame);
00238     frame = Frame();
00239     ASSERT_TRUE(Frame() == frame);
00240     ASSERT_FALSE(Frame() != frame);
00241 }
00242 
00243 
00244 TEST(Frame, FrameParsing)
00245 {
00246     using uavcan::Frame;
00247     using uavcan::CanFrame;
00248     using uavcan::NodeID;
00249     using uavcan::TransferID;
00250 
00251     CanFrame can;
00252     Frame frame;
00253     ASSERT_FALSE(frame.parse(can));
00254 
00255     for (unsigned i = 0; i < sizeof(CanFrame::data); i++)
00256     {
00257         can.data[i] = uint8_t(i | (i << 4));
00258     }
00259 
00260     /*
00261      * Message CAN ID fields and offsets:
00262      *   24 Priority
00263      *   8  Message Type ID
00264      *   7  Service Not Message (0)
00265      *   0  Source Node ID
00266      *
00267      * Service CAN ID fields and offsets:
00268      *   24 Priority
00269      *   16 Service Type ID
00270      *   15 Request Not Response
00271      *   8  Destination Node ID
00272      *   7  Service Not Message (1)
00273      *   0  Source Node ID
00274      */
00275 
00276     /*
00277      * SFT message broadcast
00278      */
00279     can.id = CanFrame::FlagEFF |
00280              (2 << 24) |
00281              (456 << 8) |
00282              (0 << 7) |
00283              (42 << 0);
00284 
00285     can.data[7] = 0xcf; // SET=110, TID=0
00286 
00287     ASSERT_FALSE(frame.parse(can));
00288     can.dlc = 8;
00289 
00290     ASSERT_TRUE(frame.parse(can));
00291     EXPECT_TRUE(frame.isStartOfTransfer());
00292     EXPECT_TRUE(frame.isEndOfTransfer());
00293     EXPECT_FALSE(frame.getToggle());
00294     ASSERT_EQ(2, frame.getPriority().get());
00295     ASSERT_EQ(NodeID(42), frame.getSrcNodeID());
00296     ASSERT_EQ(NodeID::Broadcast, frame.getDstNodeID());
00297     ASSERT_EQ(456, frame.getDataTypeID().get());
00298     ASSERT_EQ(TransferID(15), frame.getTransferID());
00299     ASSERT_EQ(uavcan::TransferTypeMessageBroadcast, frame.getTransferType());
00300 
00301     // TODO: test service frames
00302     // TODO: test malformed frames
00303 }
00304 
00305 
00306 TEST(Frame, RxFrameParse)
00307 {
00308     using uavcan::Frame;
00309     using uavcan::RxFrame;
00310     using uavcan::CanFrame;
00311     using uavcan::CanRxFrame;
00312 
00313     CanRxFrame can_rx_frame;
00314     RxFrame rx_frame;
00315 
00316     // Failure
00317     ASSERT_FALSE(rx_frame.parse(can_rx_frame));
00318 
00319     // Valid
00320     can_rx_frame.ts_mono = uavcan::MonotonicTime::fromUSec(1);  // Zero is not allowed
00321     can_rx_frame.id = CanFrame::FlagEFF |
00322         (2 << 24) |
00323         (456 << 8) |
00324         (0 << 7) |
00325         (42 << 0);
00326 
00327     ASSERT_FALSE(rx_frame.parse(can_rx_frame));
00328 
00329     can_rx_frame.data[0] = 0xc0; // SOT, EOT
00330     can_rx_frame.dlc = 1;
00331 
00332     ASSERT_TRUE(rx_frame.parse(can_rx_frame));
00333     ASSERT_EQ(1, rx_frame.getMonotonicTimestamp().toUSec());
00334     ASSERT_EQ(0, rx_frame.getIfaceIndex());
00335 
00336     can_rx_frame.ts_mono = tsMono(123);
00337     can_rx_frame.iface_index = 2;
00338 
00339     Frame frame(456, uavcan::TransferTypeMessageBroadcast, 1, uavcan::NodeID::Broadcast, 0);
00340     ASSERT_TRUE(frame.compile(can_rx_frame));
00341 
00342     ASSERT_TRUE(rx_frame.parse(can_rx_frame));
00343     ASSERT_EQ(123, rx_frame.getMonotonicTimestamp().toUSec());
00344     ASSERT_EQ(2, rx_frame.getIfaceIndex());
00345     ASSERT_EQ(456, rx_frame.getDataTypeID().get());
00346     ASSERT_EQ(uavcan::TransferTypeMessageBroadcast, rx_frame.getTransferType());
00347 }
00348 
00349 
00350 TEST(Frame, FrameToString)
00351 {
00352     using uavcan::Frame;
00353     using uavcan::RxFrame;
00354 
00355     // RX frame default
00356     RxFrame rx_frame;
00357     EXPECT_EQ("prio=255 dtid=65535 tt=3 snid=255 dnid=255 sot=0 eot=0 togl=0 tid=0 payload=[] ts_m=0.000000 ts_utc=0.000000 iface=0",
00358               rx_frame.toString());
00359 
00360     // RX frame max len
00361     rx_frame = RxFrame(Frame(uavcan::DataTypeID::MaxPossibleDataTypeIDValue, uavcan::TransferTypeMessageBroadcast,
00362                              uavcan::NodeID::Max, 0, uavcan::TransferID::Max),
00363                        uavcan::MonotonicTime::getMax(), uavcan::UtcTime::getMax(), 3);
00364 
00365     uint8_t data[8];
00366     for (unsigned i = 0; i < sizeof(data); i++)
00367     {
00368         data[i] = uint8_t(i);
00369     }
00370     rx_frame.setPayload(data, sizeof(data));
00371 
00372     rx_frame.setStartOfTransfer(true);
00373     rx_frame.setEndOfTransfer(true);
00374     rx_frame.flipToggle();
00375     rx_frame.setPriority(uavcan::TransferPriority::NumericallyMax);
00376 
00377     EXPECT_EQ("prio=31 dtid=65535 tt=2 snid=127 dnid=0 sot=1 eot=1 togl=1 tid=31 payload=[00 01 02 03 04 05 06] "
00378               "ts_m=18446744073709.551615 ts_utc=18446744073709.551615 iface=3",
00379               rx_frame.toString());
00380 
00381     // Plain frame default
00382     Frame frame;
00383     EXPECT_EQ("prio=255 dtid=65535 tt=3 snid=255 dnid=255 sot=0 eot=0 togl=0 tid=0 payload=[]", frame.toString());
00384 
00385     // Plain frame max len
00386     frame = rx_frame;
00387     EXPECT_EQ("prio=31 dtid=65535 tt=2 snid=127 dnid=0 sot=1 eot=1 togl=1 tid=31 payload=[00 01 02 03 04 05 06]",
00388               frame.toString());
00389 }
Repository toolbox

Repository details

Type:	Library
Created:	14 Apr 2018
Imports:	12
Forks:	0
Commits:	1
Dependents:	2
Dependencies:	0
Followers:	1
Important changes to repositories hosted on mbed.com

frame.cpp

Repository toolbox

Repository details

Important Information for this Arm website

Important changes to repositories hosted on mbed.com

frame.cpp

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning
