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API refinement: make RX pipeline zero-copy as a side effect of the OOO reassembly support #38

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merged 14 commits into from
Jul 22, 2023
Merged

API refinement: make RX pipeline zero-copy as a side effect of the OOO reassembly support #38

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3f08d0e
Add the RX frame parser
pavel-kirienko Jul 12, 2023
de2e14e
Tidy
pavel-kirienko Jul 12, 2023
50ec426
Fix https://github.com/OpenCyphal-Garage/libudpard/issues/36
pavel-kirienko Jul 12, 2023
1fa4132
Extend the frame parser with semantics check and add more test cases
pavel-kirienko Jul 12, 2023
52b826b
Trivial renaming
pavel-kirienko Jul 12, 2023
8037d35
New RX buffer management draft
pavel-kirienko Jul 13, 2023
2558c6a
Implement the small transfer optimization
pavel-kirienko Jul 18, 2023
59a040f
Update comments
pavel-kirienko Jul 18, 2023
b79a5de
Split testRxParse into several functions
pavel-kirienko Jul 18, 2023
0dc00a0
Fix invalid memory access in rxParseFrame
pavel-kirienko Jul 18, 2023
988e008
Fix Sonar complaints
pavel-kirienko Jul 18, 2023
18b10d7
Questionable: rename udpardRxService* into udpardRxRPC* because the o…
pavel-kirienko Jul 18, 2023
801ab7f
Add missing parens suggested by Sonar
pavel-kirienko Jul 18, 2023
303e3cb
Add a section on memory management to the header comment
pavel-kirienko Jul 18, 2023
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220 changes: 121 additions & 99 deletions tests/src/test_intrusive_rx.c
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Original file line number Diff line number Diff line change
Expand Up @@ -16,105 +16,119 @@
// data_specifier=MessageDataSpecifier(7654), user_data=0)
// >>> list(frame.compile_header_and_payload()[0])
// [1, 2, 41, 9, 56, 21, 230, 29, 13, 240, 221, 224, 254, 15, 220, 186, 57, 48, 0, 0, 0, 0, 224, 60]
static void testRxParseFrame(void)
static void testRxParseFrameValidMessage(void)
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{
{ // Valid message frame.
const byte_t data[] = {1, 2, 41, 9, 255, 255, 230, 29, 13, 240, 221, 224,
254, 15, 220, 186, 57, 48, 0, 0, 0, 0, 30, 179, //
'a', 'b', 'c'};
RxFrame rxf = {0};
TEST_ASSERT(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
TEST_ASSERT_EQUAL_UINT64(UdpardPriorityFast, rxf.meta.priority);
TEST_ASSERT_EQUAL_UINT64(2345, rxf.meta.src_node_id);
TEST_ASSERT_EQUAL_UINT64(UDPARD_NODE_ID_UNSET, rxf.meta.dst_node_id);
TEST_ASSERT_EQUAL_UINT64(7654, rxf.meta.data_specifier);
TEST_ASSERT_EQUAL_UINT64(0xbadc0ffee0ddf00d, rxf.meta.transfer_id);
TEST_ASSERT_EQUAL_UINT64(12345, rxf.index);
TEST_ASSERT_FALSE(rxf.end_of_transfer);
TEST_ASSERT_EQUAL_UINT64(3, rxf.payload.size);
TEST_ASSERT_EQUAL_UINT8_ARRAY("abc", rxf.payload.data, 3);
}
{ // Valid RPC-service frame.
// frame = UDPFrame(priority=Priority.FAST, transfer_id=0xbadc0ffee0ddf00d, index=6654, end_of_transfer=False,
// payload=memoryview(b''), source_node_id=2345, destination_node_id=4567,
// data_specifier=ServiceDataSpecifier(role=ServiceDataSpecifier.Role.REQUEST, service_id=123), user_data=0)
const byte_t data[] = {1, 2, 41, 9, 215, 17, 123, 192, 13, 240, 221, 224,
254, 15, 220, 186, 254, 25, 0, 0, 0, 0, 173, 122, //
'a', 'b', 'c'};
RxFrame rxf = {0};
TEST_ASSERT(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
TEST_ASSERT_EQUAL_UINT64(UdpardPriorityFast, rxf.meta.priority);
TEST_ASSERT_EQUAL_UINT64(2345, rxf.meta.src_node_id);
TEST_ASSERT_EQUAL_UINT64(4567, rxf.meta.dst_node_id);
TEST_ASSERT_EQUAL_UINT64(123U | DATA_SPECIFIER_SERVICE_NOT_MESSAGE_MASK |
DATA_SPECIFIER_SERVICE_REQUEST_NOT_RESPONSE_MASK,
rxf.meta.data_specifier);
TEST_ASSERT_EQUAL_UINT64(0xbadc0ffee0ddf00d, rxf.meta.transfer_id);
TEST_ASSERT_EQUAL_UINT64(6654, rxf.index);
TEST_ASSERT_FALSE(rxf.end_of_transfer);
TEST_ASSERT_EQUAL_UINT64(3, rxf.payload.size);
TEST_ASSERT_EQUAL_UINT8_ARRAY("abc", rxf.payload.data, 3);
}
{ // Valid anonymous message frame.
const byte_t data[] = {1, 2, 255, 255, 255, 255, 230, 29, 13, 240, 221, 224,
254, 15, 220, 186, 0, 0, 0, 128, 0, 0, 168, 92, //
'a', 'b', 'c'};
RxFrame rxf = {0};
TEST_ASSERT(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
TEST_ASSERT_EQUAL_UINT64(UdpardPriorityFast, rxf.meta.priority);
TEST_ASSERT_EQUAL_UINT64(UDPARD_NODE_ID_UNSET, rxf.meta.src_node_id);
TEST_ASSERT_EQUAL_UINT64(UDPARD_NODE_ID_UNSET, rxf.meta.dst_node_id);
TEST_ASSERT_EQUAL_UINT64(7654, rxf.meta.data_specifier);
TEST_ASSERT_EQUAL_UINT64(0xbadc0ffee0ddf00d, rxf.meta.transfer_id);
TEST_ASSERT_EQUAL_UINT64(0, rxf.index);
TEST_ASSERT_TRUE(rxf.end_of_transfer);
TEST_ASSERT_EQUAL_UINT64(3, rxf.payload.size);
TEST_ASSERT_EQUAL_UINT8_ARRAY("abc", rxf.payload.data, 3);
}
{ // Invalid RPC-service frame because the source is anonymous.
const byte_t data[] = {1, 2, 255, 255, 215, 17, 123, 192, 13, 240, 221, 224,
254, 15, 220, 186, 254, 25, 0, 0, 0, 0, 75, 79, //
'a', 'b', 'c'};
RxFrame rxf = {0};
TEST_ASSERT_FALSE(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
}
{ // Invalid RPC-service frame because the destination is anonymous.
const byte_t data[] = {1, 2, 41, 9, 255, 255, 123, 192, 13, 240, 221, 224,
254, 15, 220, 186, 254, 25, 0, 0, 0, 0, 248, 152, //
'a', 'b', 'c'};
RxFrame rxf = {0};
TEST_ASSERT_FALSE(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
}
{ // Invalid anonymous message frame because EOT not set (multi-frame anonymous transfers are not allowed).
const byte_t data[] = {1, 2, 255, 255, 255, 255, 230, 29, 13, 240, 221, 224,
254, 15, 220, 186, 0, 0, 0, 0, 0, 0, 147, 6, //
'a', 'b', 'c'};
RxFrame rxf = {0};
TEST_ASSERT_FALSE(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
}
{ // Bad header CRC.
const byte_t data[] = {1, 2, 41, 9, 255, 255, 230, 29, 13, 240, 221, 224,
254, 15, 220, 186, 57, 48, 0, 0, 0, 0, 30, 180, //
'a', 'b', 'c'};
RxFrame rxf = {0};
TEST_ASSERT_FALSE(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
}
{ // Unsupported header version.
// >>> from pycyphal.transport.commons.crc import CRC16CCITT
// >>> list(CRC16CCITT.new(bytes(
// [0, 2, 41, 9, 56, 21, 230, 29, 13, 240, 221, 224, 254, 15, 220, 186, 57, 48, 0, 0, 0, 0])).value_as_bytes)
const byte_t data[] = {0, 2, 41, 9, 56, 21, 230, 29, 13, 240, 221, 224,
254, 15, 220, 186, 57, 48, 0, 0, 0, 0, 141, 228, //
'a', 'b', 'c'};
RxFrame rxf = {0};
TEST_ASSERT_FALSE(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
}
{ // No frame payload, just a valid header (not acceptable).
const byte_t data[] = {1, 2, 41, 9, 255, 255, 230, 29, 13, 240, 221, 224,
254, 15, 220, 186, 57, 48, 0, 0, 0, 0, 30, 179};
RxFrame rxf = {0};
TEST_ASSERT_FALSE(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
}
const byte_t data[] = {1, 2, 41, 9, 255, 255, 230, 29, 13, 240, 221, 224,
254, 15, 220, 186, 57, 48, 0, 0, 0, 0, 30, 179, //
'a', 'b', 'c'};
RxFrame rxf = {0};
TEST_ASSERT(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
TEST_ASSERT_EQUAL_UINT64(UdpardPriorityFast, rxf.meta.priority);
TEST_ASSERT_EQUAL_UINT64(2345, rxf.meta.src_node_id);
TEST_ASSERT_EQUAL_UINT64(UDPARD_NODE_ID_UNSET, rxf.meta.dst_node_id);
TEST_ASSERT_EQUAL_UINT64(7654, rxf.meta.data_specifier);
TEST_ASSERT_EQUAL_UINT64(0xbadc0ffee0ddf00d, rxf.meta.transfer_id);
TEST_ASSERT_EQUAL_UINT64(12345, rxf.index);
TEST_ASSERT_FALSE(rxf.end_of_transfer);
TEST_ASSERT_EQUAL_UINT64(3, rxf.payload.size);
TEST_ASSERT_EQUAL_UINT8_ARRAY("abc", rxf.payload.data, 3);
}

static void testRxParseFrameValidRPCService(void)
{
// frame = UDPFrame(priority=Priority.FAST, transfer_id=0xbadc0ffee0ddf00d, index=6654, end_of_transfer=False,
// payload=memoryview(b''), source_node_id=2345, destination_node_id=4567,
// data_specifier=ServiceDataSpecifier(role=ServiceDataSpecifier.Role.REQUEST, service_id=123), user_data=0)
const byte_t data[] = {1, 2, 41, 9, 215, 17, 123, 192, 13, 240, 221, 224,
254, 15, 220, 186, 254, 25, 0, 0, 0, 0, 173, 122, //
'a', 'b', 'c'};
RxFrame rxf = {0};
TEST_ASSERT(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
TEST_ASSERT_EQUAL_UINT64(UdpardPriorityFast, rxf.meta.priority);
TEST_ASSERT_EQUAL_UINT64(2345, rxf.meta.src_node_id);
TEST_ASSERT_EQUAL_UINT64(4567, rxf.meta.dst_node_id);
TEST_ASSERT_EQUAL_UINT64(123U | DATA_SPECIFIER_SERVICE_NOT_MESSAGE_MASK |
DATA_SPECIFIER_SERVICE_REQUEST_NOT_RESPONSE_MASK,
rxf.meta.data_specifier);
TEST_ASSERT_EQUAL_UINT64(0xbadc0ffee0ddf00d, rxf.meta.transfer_id);
TEST_ASSERT_EQUAL_UINT64(6654, rxf.index);
TEST_ASSERT_FALSE(rxf.end_of_transfer);
TEST_ASSERT_EQUAL_UINT64(3, rxf.payload.size);
TEST_ASSERT_EQUAL_UINT8_ARRAY("abc", rxf.payload.data, 3);
}

static void testRxParseFrameValidMessageAnonymous(void)
{
const byte_t data[] = {1, 2, 255, 255, 255, 255, 230, 29, 13, 240, 221, 224,
254, 15, 220, 186, 0, 0, 0, 128, 0, 0, 168, 92, //
'a', 'b', 'c'};
RxFrame rxf = {0};
TEST_ASSERT(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
TEST_ASSERT_EQUAL_UINT64(UdpardPriorityFast, rxf.meta.priority);
TEST_ASSERT_EQUAL_UINT64(UDPARD_NODE_ID_UNSET, rxf.meta.src_node_id);
TEST_ASSERT_EQUAL_UINT64(UDPARD_NODE_ID_UNSET, rxf.meta.dst_node_id);
TEST_ASSERT_EQUAL_UINT64(7654, rxf.meta.data_specifier);
TEST_ASSERT_EQUAL_UINT64(0xbadc0ffee0ddf00d, rxf.meta.transfer_id);
TEST_ASSERT_EQUAL_UINT64(0, rxf.index);
TEST_ASSERT_TRUE(rxf.end_of_transfer);
TEST_ASSERT_EQUAL_UINT64(3, rxf.payload.size);
TEST_ASSERT_EQUAL_UINT8_ARRAY("abc", rxf.payload.data, 3);
}

static void testRxParseFrameRPCServiceAnonymous(void)
{
const byte_t data[] = {1, 2, 255, 255, 215, 17, 123, 192, 13, 240, 221, 224,
254, 15, 220, 186, 254, 25, 0, 0, 0, 0, 75, 79, //
'a', 'b', 'c'};
RxFrame rxf = {0};
TEST_ASSERT_FALSE(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
}

static void testRxParseFrameRPCServiceBroadcast(void)
{
const byte_t data[] = {1, 2, 41, 9, 255, 255, 123, 192, 13, 240, 221, 224,
254, 15, 220, 186, 254, 25, 0, 0, 0, 0, 248, 152, //
'a', 'b', 'c'};
RxFrame rxf = {0};
TEST_ASSERT_FALSE(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
}

static void testRxParseFrameAnonymousNonSingleFrame(void)
{ // Invalid anonymous message frame because EOT not set (multi-frame anonymous transfers are not allowed).
const byte_t data[] = {1, 2, 255, 255, 255, 255, 230, 29, 13, 240, 221, 224,
254, 15, 220, 186, 0, 0, 0, 0, 0, 0, 147, 6, //
'a', 'b', 'c'};
RxFrame rxf = {0};
TEST_ASSERT_FALSE(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
}

static void testRxParseFrameBadHeaderCRC(void)
{ // Bad header CRC.
const byte_t data[] = {1, 2, 41, 9, 255, 255, 230, 29, 13, 240, 221, 224,
254, 15, 220, 186, 57, 48, 0, 0, 0, 0, 30, 180, //
'a', 'b', 'c'};
RxFrame rxf = {0};
TEST_ASSERT_FALSE(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
}

static void testRxParseFrameUnknownHeaderVersion(void)
{
// >>> from pycyphal.transport.commons.crc import CRC16CCITT
// >>> list(CRC16CCITT.new(bytes(
// [0, 2, 41, 9, 56, 21, 230, 29, 13, 240, 221, 224, 254, 15, 220, 186, 57, 48, 0, 0, 0, 0])).value_as_bytes)
const byte_t data[] = {0, 2, 41, 9, 56, 21, 230, 29, 13, 240, 221, 224,
254, 15, 220, 186, 57, 48, 0, 0, 0, 0, 141, 228, //
'a', 'b', 'c'};
RxFrame rxf = {0};
TEST_ASSERT_FALSE(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
}

static void testRxParseFrameHeaderWithoutPayload(void)
{
const byte_t data[] = {1, 2, 41, 9, 255, 255, 230, 29, 13, 240, 221, 224,
254, 15, 220, 186, 57, 48, 0, 0, 0, 0, 30, 179};
RxFrame rxf = {0};
TEST_ASSERT_FALSE(rxParseFrame((struct UdpardConstPayload){.data = data, .size = sizeof(data)}, &rxf));
}

void setUp(void) {}
Expand All @@ -124,6 +138,14 @@ void tearDown(void) {}
int main(void)
{
UNITY_BEGIN();
RUN_TEST(testRxParseFrame);
RUN_TEST(testRxParseFrameValidMessage);
RUN_TEST(testRxParseFrameValidRPCService);
RUN_TEST(testRxParseFrameValidMessageAnonymous);
RUN_TEST(testRxParseFrameRPCServiceAnonymous);
RUN_TEST(testRxParseFrameRPCServiceBroadcast);
RUN_TEST(testRxParseFrameAnonymousNonSingleFrame);
RUN_TEST(testRxParseFrameBadHeaderCRC);
RUN_TEST(testRxParseFrameUnknownHeaderVersion);
RUN_TEST(testRxParseFrameHeaderWithoutPayload);
return UNITY_END();
}