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Add luos_phy unit test
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@nicolas-rabault
nicolas-rabault committed May 5, 2023
1 parent 48cf597 commit 08c151b
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Showing 5 changed files with 1,555 additions and 23 deletions.
65 changes: 47 additions & 18 deletions engine/IO/src/luos_phy.c
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Original file line number Diff line number Diff line change
Expand Up @@ -139,11 +139,11 @@ void Phy_Loop(void)
// This is only needed for Robus for now.
if (phy_ctx.phy[1].rx_alloc_job)
{
Phy_alloc(phy_ctx.phy);
Phy_alloc(&phy_ctx.phy[1]);
}
Phy_ManageFailedJob();
// Manage complete message received dispatching
Phy_Dispatch();
Phy_ManageFailedJob();
// Compute phy job statistics
/*
uint8_t stat = (uint8_t)((job nbr * 100) / (MAX_MSG_NB));
Expand All @@ -160,7 +160,6 @@ void Phy_Loop(void)
******************************************************************************/
luos_phy_t *Phy_Create(PHY_CB phy_cb)
{
LUOS_ASSERT((phy_ctx.phy_nb < PHY_NB) && (phy_ctx.phy_nb > 0));
return Phy_Get(phy_ctx.phy_nb++, phy_cb);
}

Expand All @@ -172,6 +171,8 @@ luos_phy_t *Phy_Create(PHY_CB phy_cb)
******************************************************************************/
luos_phy_t *Phy_Get(uint8_t id, PHY_CB phy_cb)
{
LUOS_ASSERT((id <= PHY_NB)
&& (phy_cb != NULL));
// Set the callback
phy_ctx.phy[id].phy_cb = phy_cb;
// Return the phy pointer
Expand All @@ -183,9 +184,9 @@ luos_phy_t *Phy_Get(uint8_t id, PHY_CB phy_cb)
* @param phy_ptr Pointer to the phy concerned by this message
* @return None
******************************************************************************/
inline void Phy_ComputeHeader(luos_phy_t *phy_ptr)
_CRITICAL void Phy_ComputeHeader(luos_phy_t *phy_ptr)
{

LUOS_ASSERT(phy_ptr != NULL);
// Compute the size of the data to allocate
if (((header_t *)phy_ptr->rx_buffer_base)->size > MAX_DATA_MSG_SIZE)
{
Expand All @@ -195,11 +196,11 @@ inline void Phy_ComputeHeader(luos_phy_t *phy_ptr)
else
{
phy_ptr->rx_size = ((header_t *)phy_ptr->rx_buffer_base)->size + sizeof(header_t);
// We need to check if we have a timestamped message and increase the data size if yes
if (Luos_IsMsgTimstamped((msg_t *)(phy_ptr->rx_data)) == true)
{
phy_ptr->rx_size += sizeof(time_luos_t);
}
}
// We need to check if we have a timestamped message and increase the data size if yes
if (Luos_IsMsgTimstamped((msg_t *)(phy_ptr->rx_data)) == true)
{
phy_ptr->rx_size += sizeof(time_luos_t);
}

// Compute the phy concerned by this message
Expand Down Expand Up @@ -287,6 +288,7 @@ uint16_t Phy_GetNodeId(void)
******************************************************************************/
_CRITICAL static void Phy_alloc(luos_phy_t *phy_ptr)
{
LUOS_ASSERT(phy_ptr != NULL);
void *rx_data;
void *copy_from;

Expand All @@ -298,9 +300,10 @@ _CRITICAL static void Phy_alloc(luos_phy_t *phy_ptr)
return;
}
// Check if we receive enougth data to be able to allocate the complete message
LUOS_ASSERT((phy_ptr->received_data >= sizeof(header_t)) && (phy_ptr->received_data <= MAX_DATA_MSG_SIZE + sizeof(header_t)));
// Check if their is a mistake on the buffer allocation. In this case, the phy.rx_data was not properly set to rx_buffer_base before the data reception.
LUOS_ASSERT(phy_ptr->rx_data == phy_ptr->rx_buffer_base);
LUOS_ASSERT((phy_ptr->received_data >= sizeof(header_t))
&& (phy_ptr->received_data <= MAX_DATA_MSG_SIZE + sizeof(header_t))
// Check if their is a mistake on the buffer allocation. In this case, the phy.rx_data was not properly set to rx_buffer_base before the data reception.
&& (phy_ptr->rx_data == phy_ptr->rx_buffer_base));
LuosHAL_SetIrqState(true);

// Now we can check if we need to store the received data
Expand Down Expand Up @@ -363,7 +366,6 @@ static void Phy_Dispatch(void)
{
return;
}
running = true;
// Interpreat received messages and create tasks for it.
LuosHAL_SetIrqState(false);
while (i < phy_ctx.io_job_nb)
Expand All @@ -372,6 +374,10 @@ static void Phy_Dispatch(void)
// Get the oldest job
IO_job_t *job = &phy_ctx.io_job[i];
i++;
running = false;
LUOS_ASSERT((job->alloc_msg != NULL)
&& (job->size >= sizeof(header_t)));
running = true;
// If message is timestamped, convert the latency to date
if (Luos_IsMsgTimstamped(job->alloc_msg))
{
Expand Down Expand Up @@ -413,14 +419,24 @@ static void Phy_Dispatch(void)
_CRITICAL void Phy_DeadTargetSpotted(luos_phy_t *phy_ptr, phy_job_t *job)
{
// A phy failed to send a message, we need to be sure that our node don't try to contact this target again.
LUOS_ASSERT(job->msg_pt->header.target_mode == NODEIDACK || job->msg_pt->header.target_mode == SERVICEIDACK || job->msg_pt->header.target_mode == NODEID || job->msg_pt->header.target_mode == SERVICEID);
LUOS_ASSERT((job != NULL)
&& (phy_ptr != NULL));
LUOS_ASSERT((job->msg_pt != NULL)
&& (job->msg_pt->header.target_mode == NODEIDACK
|| job->msg_pt->header.target_mode == SERVICEIDACK
|| job->msg_pt->header.target_mode == NODEID
|| job->msg_pt->header.target_mode == SERVICEID));

// Store the job in the dead service spotted list
phy_ctx.failed_job[phy_ctx.failed_job_nb++] = *job;
uint16_t target = job->msg_pt->header.target;
uint16_t target_mode = job->msg_pt->header.target_mode;

// Remove all job targeting this target on this phy job queue;
for (int i = 0; i < phy_ptr->job_nb; i++)
int i = 0;
while (i < phy_ptr->job_nb)
{
if ((phy_ptr->job[i].msg_pt->header.target == job->msg_pt->header.target) && (phy_ptr->job[i].msg_pt->header.target_mode == job->msg_pt->header.target_mode))
if ((phy_ptr->job[i].msg_pt->header.target == target) && (phy_ptr->job[i].msg_pt->header.target_mode == target_mode))
{
// This job is targeting the dead target, remove it from the queue
phy_ptr->job_nb--;
Expand All @@ -429,6 +445,11 @@ _CRITICAL void Phy_DeadTargetSpotted(luos_phy_t *phy_ptr, phy_job_t *job)
phy_ptr->job[j] = phy_ptr->job[j + 1];
}
}
else
{
// Treat the next job
i++;
}
}
}

Expand Down Expand Up @@ -513,11 +534,16 @@ _CRITICAL inline phy_job_t *Phy_GetJob(luos_phy_t *phy_ptr)
******************************************************************************/
inline int Phy_GetJobId(luos_phy_t *phy_ptr, phy_job_t *job)
{
LUOS_ASSERT((phy_ptr != NULL)
&& (job >= phy_ptr->job)
&& (job < &phy_ptr->job[MAX_MSG_NB]));
return (((uintptr_t)job - (uintptr_t)phy_ptr->job) / sizeof(phy_job_t));
}

inline int Phy_GetPhyId(luos_phy_t *phy_ptr)
{
LUOS_ASSERT((phy_ptr >= phy_ctx.phy)
&& (phy_ptr < &phy_ctx.phy[PHY_NB]));
return ((uintptr_t)phy_ptr - (uintptr_t)phy_ctx.phy) / sizeof(luos_phy_t);
}

Expand All @@ -528,7 +554,9 @@ inline int Phy_GetPhyId(luos_phy_t *phy_ptr)
******************************************************************************/
_CRITICAL void Phy_RmJob(luos_phy_t *phy_ptr, phy_job_t *job)
{
LUOS_ASSERT((phy_ptr != NULL) && (job != NULL));
LUOS_ASSERT((phy_ptr != NULL)
&& (job >= phy_ptr->job)
&& (job < &phy_ptr->job[MAX_MSG_NB]));
if (phy_ptr->job_nb == 0)
{
return;
Expand All @@ -554,6 +582,7 @@ _CRITICAL void Phy_RmJob(luos_phy_t *phy_ptr, phy_job_t *job)
******************************************************************************/
_CRITICAL inline uint16_t Phy_GetJobNbr(luos_phy_t *phy_ptr)
{
LUOS_ASSERT(phy_ptr != NULL);
return phy_ptr->job_nb;
}

Expand Down
1 change: 1 addition & 0 deletions test/test_robus/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
#include "context.h"
#include "unit_test.h"
#include "default_scenario.h"
#include "filter.h"

extern default_scenario_t default_sc;

Expand Down
1 change: 0 additions & 1 deletion test/tests_io/test_filter/main.c
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Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
#include "main.h"
#include "unit_test.h"
#include "filter.h"
#include "../src/service.c"
Expand Down
4 changes: 0 additions & 4 deletions test/tests_io/test_filter/main.h
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