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added retries; increased heap -> 128K (to support redundant interfaces)
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@serges147
serges147 committed Feb 7, 2025
1 parent eb20155 commit feac369
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Showing 4 changed files with 83 additions and 60 deletions.
2 changes: 1 addition & 1 deletion libcyphal_demo/src/application.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@
namespace
{

constexpr std::size_t HeapSize = 32ULL * 1024ULL;
constexpr std::size_t HeapSize = 128ULL * 1024ULL;
alignas(O1HEAP_ALIGNMENT) std::array<cetl::byte, HeapSize> s_heap_arena{}; // NOLINT

constexpr std::size_t BlockHeapSize = 128ULL * 1024ULL;
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130 changes: 75 additions & 55 deletions libcyphal_demo/src/file_downloader.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,19 +37,8 @@ class FileDownloader final
return FileDownloader{presentation, time_provider};
}

FileDownloader(FileDownloader&& other) noexcept
: presentation_{other.presentation_}
, time_provider_{other.time_provider_}
, get_info_client_{std::move(other.get_info_client_)}
, get_info_promise_{std::move(other.get_info_promise_)}
, read_client_{std::move(other.read_client_)}
, read_promise_{std::move(other.read_promise_)}
, read_request_{std::move(other.read_request_)}
, file_stats_{other.file_stats_}
{
}

~FileDownloader() = default;
FileDownloader(FileDownloader&& other) noexcept = default;
~FileDownloader() = default;

FileDownloader(const FileDownloader&) = delete;
FileDownloader& operator=(const FileDownloader&) = delete;
Expand All @@ -62,33 +51,25 @@ class FileDownloader final
read_promise_.reset();
read_client_.reset();

file_stats_.file_size = 0;
file_stats_.file_progress = 0;
file_stats_.file_error.value = uavcan::file::Error_1_0::OK;
state_.file_size = 0;
state_.file_progress = 0;
state_.file_path = file_path;
state_.start_time = time_provider_.now();
state_.file_error.value = uavcan::file::Error_1_0::OK;

get_info_client_ = makeClient<Svc::GetInfo>("GetInfo", remote_node_id);
read_client_ = makeClient<Svc::Read>("Read", remote_node_id);
if (!get_info_client_ || !read_client_)
{
file_stats_.file_error.value = uavcan::file::Error_1_0::UNKNOWN_ERROR;
state_.file_error.value = uavcan::file::Error_1_0::UNKNOWN_ERROR;
return false;
}

read_request_.offset = 0;
file_stats_.start_time = time_provider_.now();
read_request_.path.path = {file_path.begin(), file_path.end(), &presentation_.memory()};

std::cout << "Getting file info (path='" << file_path << "')...\n";
Svc::GetInfo::Request gi_request{&presentation_.memory()};
gi_request.path.path = {file_path.begin(), file_path.end(), &presentation_.memory()};
return makeRequest<Svc::GetInfo>("GetInfo",
get_info_client_,
get_info_promise_,
gi_request,
[this](const auto& arg) {
//
handleGetInfoPromiseResult(arg.result);
});
return initiateGetInfoRequest();
}

private:
Expand All @@ -111,14 +92,16 @@ class FileDownloader final

}; // Svc

struct FileStats
struct State
{
std::string file_path;
uavcan::file::Error_1_0 file_error;
libcyphal::TimePoint start_time;
std::size_t file_size{0};
std::size_t file_progress{0};
int failed_requests{0};

}; // FileStats
}; // State

FileDownloader(Presentation& presentation, libcyphal::ITimeProvider& time_provider)
: presentation_{presentation}
Expand Down Expand Up @@ -155,7 +138,7 @@ class FileDownloader final
if (const auto* const failure = cetl::get_if<typename Service::Failure>(&maybe_promise))
{
(void) failure;
file_stats_.file_error.value = uavcan::file::Error_1_0::UNKNOWN_ERROR;
state_.file_error.value = uavcan::file::Error_1_0::UNKNOWN_ERROR;
std::cerr << "Can't make '" << role << "' request.\n";
complete();
return false;
Expand All @@ -166,40 +149,64 @@ class FileDownloader final
return true;
}

bool initiateGetInfoRequest()
{
Svc::GetInfo::Request request{&presentation_.memory()};
request.path.path = {state_.file_path.begin(), state_.file_path.end(), &presentation_.memory()};
return makeRequest<Svc::GetInfo>("GetInfo",
get_info_client_,
get_info_promise_,
request,
[this](const auto& arg) {
//
handleGetInfoPromiseResult(arg.result);
});
}

void handleGetInfoPromiseResult(const Svc::GetInfo::Promise::Result& result)
{
if (const auto* const failure = cetl::get_if<ResponsePromiseFailure>(&result))
{
(void) failure;
file_stats_.file_error.value = uavcan::file::Error_1_0::UNKNOWN_ERROR;
std::cerr << "GetInfo request failed.\n";
complete();
state_.failed_requests++;
if (state_.failed_requests >= MaxRetriesOnRequestFailure)
{
std::cerr << "'GetInfo' request failed (times=" << state_.failed_requests << ").\n";
state_.file_error.value = uavcan::file::Error_1_0::UNKNOWN_ERROR;
complete();
}
else
{
std::cerr << "'GetInfo' request failed (times=" << state_.failed_requests << "). Retrying…\n";
initiateGetInfoRequest();
}
return;
}
const auto success = cetl::get<Svc::GetInfo::Promise::Success>(result);
state_.failed_requests = 0;
const auto success = cetl::get<Svc::GetInfo::Promise::Success>(result);

get_info_promise_.reset();
get_info_client_.reset();

const auto& response = success.response;
if (response._error.value == uavcan::file::Error_1_0::OK)
{
file_stats_.file_size = response.size;
std::cout << "Downloading (size=" << file_stats_.file_size << ") ...\n";
if (file_stats_.file_size > 0)
state_.file_size = response.size;
std::cout << "Downloading (size=" << state_.file_size << ") ...\n";
if (state_.file_size > 0)
{
file_stats_.start_time = time_provider_.now();
state_.start_time = time_provider_.now();

printProgress();
initiateNextReadRequest();
return;
}

file_stats_.file_error.value = uavcan::file::Error_1_0::OK;
state_.file_error.value = uavcan::file::Error_1_0::OK;
}
else
{
file_stats_.file_error = response._error;
state_.file_error = response._error;
std::cerr << "Can't get file info (err=" << response._error.value << ").\n";
}

Expand All @@ -219,11 +226,22 @@ class FileDownloader final
if (const auto* const failure = cetl::get_if<ResponsePromiseFailure>(&result))
{
(void) failure;
file_stats_.file_error.value = uavcan::file::Error_1_0::UNKNOWN_ERROR;
std::cerr << "Read request failed.\n";
complete();
state_.failed_requests++;
if (state_.failed_requests >= MaxRetriesOnRequestFailure)
{
std::cerr << "'Read' request failed (times=" << state_.failed_requests << ").\n";
state_.file_error.value = uavcan::file::Error_1_0::UNKNOWN_ERROR;
complete();
}
else
{
std::cerr << "'Read' request failed (times=" << state_.failed_requests << "). Retrying…\n";
initiateNextReadRequest();
}
return;
}
state_.failed_requests = 0;

const auto success = cetl::get<Svc::Read::Promise::Success>(std::move(result));

const auto& response = success.response;
Expand All @@ -243,25 +261,25 @@ class FileDownloader final
}
else
{
file_stats_.file_error = response._error;
state_.file_error = response._error;
std::cerr << "Can't read file (err=" << response._error.value << ").\n";
}
complete();
}

void printProgress()
{
CETL_DEBUG_ASSERT(file_stats_.file_size > 0, "");
CETL_DEBUG_ASSERT(read_request_.offset <= file_stats_.file_size, "");
CETL_DEBUG_ASSERT(state_.file_size > 0, "");
CETL_DEBUG_ASSERT(read_request_.offset <= state_.file_size, "");

const auto progress = (read_request_.offset * 100U) / file_stats_.file_size;
const auto progress = (read_request_.offset * 100U) / state_.file_size;
CETL_DEBUG_ASSERT(progress <= 100U, "");

// Print progress only if its integer % has changed (or in the beginning).
if ((progress != file_stats_.file_progress) || (read_request_.offset == 0))
if ((progress != state_.file_progress) || (read_request_.offset == 0))
{
file_stats_.file_progress = progress;
const auto duration = time_provider_.now() - file_stats_.start_time;
state_.file_progress = progress;
const auto duration = time_provider_.now() - state_.start_time;
if (const auto duration_us = std::chrono::duration_cast<std::chrono::microseconds>(duration).count())
{
const auto speed_kb_per_sec = (read_request_.offset * 1000000U) / (duration_us * 1024U);
Expand All @@ -277,9 +295,9 @@ class FileDownloader final

void complete()
{
const auto duration = time_provider_.now() - file_stats_.start_time;
std::cout << "\nDownload completed (err=" << file_stats_.file_error.value //
<< ", time=" << std::fixed << std::setprecision(6) // NOLINT
const auto duration = time_provider_.now() - state_.start_time;
std::cout << "\nDownload completed (err=" << state_.file_error.value //
<< ", time=" << std::fixed << std::setprecision(6) // NOLINT
<< std::chrono::duration_cast<std::chrono::duration<double>>(duration).count() << "s).\n"
<< std::flush;

Expand All @@ -291,14 +309,16 @@ class FileDownloader final

// MARK: Data members:

static constexpr int MaxRetriesOnRequestFailure = 10;

Presentation& presentation_;
libcyphal::ITimeProvider& time_provider_;
cetl::optional<Svc::GetInfo::Client> get_info_client_;
cetl::optional<Svc::GetInfo::Promise> get_info_promise_;
cetl::optional<Svc::Read::Client> read_client_;
cetl::optional<Svc::Read::Promise> read_promise_;
Svc::Read::Request read_request_{&presentation_.memory()};
FileStats file_stats_;
State state_;

}; // FileDownloader

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9 changes: 6 additions & 3 deletions libcyphal_demo/src/transport_bag_can.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,14 +65,17 @@ struct TransportBagCan final
const std::size_t block_size = mtu;
const std::size_t pool_size = media_collection_.count() * TxQueueCapacity * block_size;
media_block_mr_.setup(pool_size, block_size, block_alignment);

transport_->setTransientErrorHandler(platform::CommonHelpers::Can::transientErrorReporter);
transport_->setTransientErrorHandler([](auto&) { return cetl::nullopt; });
// transport_->setTransientErrorHandler(platform::CommonHelpers::Can::transientErrorReporter);

return transport_.get();
}

private:
static constexpr std::size_t TxQueueCapacity = 16;
// Our current max `SerializationBufferSizeBytes` is 515 bytes (for `uavcan.register.Access.Request.1.0`)
// Assuming CAN classic presentation MTU of 7 bytes (plus a bit of overhead like CRC and stuff),
// let's calculate the required TX queue capacity, and make it twice to accommodate 2 such messages.
static constexpr std::size_t TxQueueCapacity = 2 * (515U + 8U) / 7U;

cetl::pmr::memory_resource& general_mr_;
libcyphal::IExecutor& executor_;
Expand Down
2 changes: 1 addition & 1 deletion submodules/libcyphal
Submodule libcyphal updated 4 files
+8 −0 include/libcyphal/transport/can/can_transport_impl.hpp
+3 −1 include/libcyphal/transport/udp/udp_transport_impl.hpp
+20 −1 test/unittest/transport/can/test_can_transport.cpp
+23 −1 test/unittest/transport/udp/test_udp_transport.cpp

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