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test_public_tx.cpp
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// This software is distributed under the terms of the MIT License.
// Copyright (c) 2016 OpenCyphal Development Team.
#include "exposed.hpp"
#include "helpers.hpp"
#include "catch.hpp"
#include <cstring>
TEST_CASE("TxBasic0")
{
using exposed::TxItem;
helpers::Instance ins;
helpers::TxQueue que(200, CANARD_MTU_CAN_FD);
auto& alloc = ins.getAllocator();
std::array<std::uint8_t, 1024> payload{};
for (std::size_t i = 0; i < std::size(payload); i++)
{
payload.at(i) = static_cast<std::uint8_t>(i & 0xFFU);
}
REQUIRE(CANARD_NODE_ID_UNSET == ins.getNodeID());
REQUIRE(CANARD_MTU_CAN_FD == que.getMTU());
REQUIRE(0 == que.getSize());
REQUIRE(0 == alloc.getNumAllocatedFragments());
alloc.setAllocationCeiling(400);
CanardTransferMetadata meta{};
// Single-frame with padding.
meta.priority = CanardPriorityNominal;
meta.transfer_kind = CanardTransferKindMessage;
meta.port_id = 321;
meta.remote_node_id = CANARD_NODE_ID_UNSET;
meta.transfer_id = 21;
REQUIRE(1 == que.push(&ins.getInstance(), 1'000'000'000'000ULL, meta, 8, payload.data()));
REQUIRE(1 == que.getSize());
REQUIRE(1 == alloc.getNumAllocatedFragments());
REQUIRE(10 < alloc.getTotalAllocatedAmount());
REQUIRE(160 > alloc.getTotalAllocatedAmount());
REQUIRE(que.peek()->tx_deadline_usec == 1'000'000'000'000ULL);
REQUIRE(que.peek()->frame.payload_size == 12); // Three bytes of padding.
REQUIRE(que.peek()->getPayloadByte(0) == 0); // Payload start.
REQUIRE(que.peek()->getPayloadByte(1) == 1);
REQUIRE(que.peek()->getPayloadByte(2) == 2);
REQUIRE(que.peek()->getPayloadByte(3) == 3);
REQUIRE(que.peek()->getPayloadByte(4) == 4);
REQUIRE(que.peek()->getPayloadByte(5) == 5);
REQUIRE(que.peek()->getPayloadByte(6) == 6);
REQUIRE(que.peek()->getPayloadByte(7) == 7); // Payload end.
REQUIRE(que.peek()->getPayloadByte(8) == 0); // Padding.
REQUIRE(que.peek()->getPayloadByte(9) == 0); // Padding.
REQUIRE(que.peek()->getPayloadByte(10) == 0); // Padding.
REQUIRE(que.peek()->isStartOfTransfer()); // Tail byte at the end.
REQUIRE(que.peek()->isEndOfTransfer());
REQUIRE(que.peek()->isToggleBitSet());
// Multi-frame. Priority low, inserted at the end of the TX queue.
meta.priority = CanardPriorityLow;
meta.transfer_id = 22;
que.setMTU(CANARD_MTU_CAN_CLASSIC);
ins.setNodeID(42);
REQUIRE(2 == que.push(&ins.getInstance(), 1'000'000'000'100ULL, meta, 8, payload.data())); // 8 bytes --> 2 frames
REQUIRE(3 == que.getSize());
REQUIRE(3 == alloc.getNumAllocatedFragments());
REQUIRE(20 < alloc.getTotalAllocatedAmount());
REQUIRE(400 > alloc.getTotalAllocatedAmount());
// Check the TX queue.
{
const auto q = que.linearize();
REQUIRE(3 == q.size());
REQUIRE(q.at(0)->tx_deadline_usec == 1'000'000'000'000ULL);
REQUIRE(q.at(0)->frame.payload_size == 12);
REQUIRE(q.at(0)->isStartOfTransfer());
REQUIRE(q.at(0)->isEndOfTransfer());
REQUIRE(q.at(0)->isToggleBitSet());
//
REQUIRE(q.at(1)->tx_deadline_usec == 1'000'000'000'100ULL);
REQUIRE(q.at(1)->frame.payload_size == 8);
REQUIRE(q.at(1)->isStartOfTransfer());
REQUIRE(!q.at(1)->isEndOfTransfer());
REQUIRE(q.at(1)->isToggleBitSet());
//
REQUIRE(q.at(2)->tx_deadline_usec == 1'000'000'000'100ULL);
REQUIRE(q.at(2)->frame.payload_size == 4); // One leftover, two CRC, one tail.
REQUIRE(!q.at(2)->isStartOfTransfer());
REQUIRE(q.at(2)->isEndOfTransfer());
REQUIRE(!q.at(2)->isToggleBitSet());
}
// Single-frame, OOM.
alloc.setAllocationCeiling(alloc.getTotalAllocatedAmount()); // Seal up the heap at this level.
meta.priority = CanardPriorityLow;
meta.transfer_id = 23;
REQUIRE(-CANARD_ERROR_OUT_OF_MEMORY == que.push(&ins.getInstance(), 1'000'000'000'200ULL, meta, 1, payload.data()));
REQUIRE(3 == que.getSize());
REQUIRE(3 == alloc.getNumAllocatedFragments());
// Multi-frame, first frame added successfully, then OOM. The entire transaction rejected.
alloc.setAllocationCeiling(alloc.getTotalAllocatedAmount() + sizeof(TxItem) + 10U);
meta.priority = CanardPriorityHigh;
meta.transfer_id = 24;
REQUIRE(-CANARD_ERROR_OUT_OF_MEMORY ==
que.push(&ins.getInstance(), 1'000'000'000'300ULL, meta, 100, payload.data()));
REQUIRE(3 == que.getSize());
REQUIRE(3 == alloc.getNumAllocatedFragments());
REQUIRE(20 < alloc.getTotalAllocatedAmount());
REQUIRE(400 > alloc.getTotalAllocatedAmount());
// Pop the queue.
// hex(pycyphal.transport.commons.crc.CRC16CCITT.new(list(range(8))).value)
constexpr std::uint16_t CRC8 = 0x178DU;
const CanardTxQueueItem* ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 12);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data(), 8));
REQUIRE(0 == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[8]); // Padding.
REQUIRE(0 == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[9]); // Padding.
REQUIRE(0 == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[10]); // Padding.
REQUIRE((0b11100000U | 21U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[11]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'000'000ULL);
ti = que.peek();
REQUIRE(nullptr != ti); // Make sure we get the same frame again.
REQUIRE(ti->frame.payload_size == 12);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data(), 8));
REQUIRE((0b11100000U | 21U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[11]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'000'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(2 == que.getSize());
REQUIRE(2 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 8);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data(), 7));
REQUIRE((0b10100000U | 22U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[7]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'000'100ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(1 == que.getSize());
REQUIRE(1 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 4);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data() + 7U, 1));
REQUIRE((CRC8 >> 8U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[1]);
REQUIRE((CRC8 & 0xFFU) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[2]);
REQUIRE((0b01000000U | 22U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[3]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'000'100ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(0 == que.getSize());
REQUIRE(0 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr == ti);
REQUIRE(nullptr == que.pop(nullptr));
REQUIRE(0 == que.getSize());
REQUIRE(0 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr == ti);
alloc.setAllocationCeiling(1000);
// Multi-frame, success. CRC split over the frame boundary.
// hex(pycyphal.transport.commons.crc.CRC16CCITT.new(list(range(61))).value)
constexpr std::uint16_t CRC61 = 0x554EU;
que.setMTU(32);
meta.priority = CanardPriorityFast;
meta.transfer_id = 25;
// CRC takes 2 bytes at the end; 3 frames: (31+1) + (30+1+1) + (1+1)
REQUIRE(3 == que.push(&ins.getInstance(), 1'000'000'001'000ULL, meta, 31 + 30, payload.data()));
REQUIRE(3 == que.getSize());
REQUIRE(3 == alloc.getNumAllocatedFragments());
REQUIRE(40 < alloc.getTotalAllocatedAmount());
REQUIRE(400 > alloc.getTotalAllocatedAmount());
// Read the generated frames.
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 32);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data(), 31));
REQUIRE((0b10100000U | 25U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[31]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'001'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(2 == que.getSize());
REQUIRE(2 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 32);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data() + 31U, 30));
REQUIRE((CRC61 >> 8U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[30]);
REQUIRE((0b00000000U | 25U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[31]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'001'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(1 == que.getSize());
REQUIRE(1 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 2); // The last byte of CRC plus the tail byte.
REQUIRE((CRC61 & 0xFFU) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[0]);
REQUIRE((0b01100000U | 25U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[1]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'001'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(0 == que.getSize());
REQUIRE(0 == alloc.getNumAllocatedFragments());
// Multi-frame, success. CRC is in the last frame->
// hex(pycyphal.transport.commons.crc.CRC16CCITT.new(list(range(62))).value)
constexpr std::uint16_t CRC62 = 0xA3AEU;
que.setMTU(32);
meta.priority = CanardPrioritySlow;
meta.transfer_id = 26;
// CRC takes 2 bytes at the end; 3 frames: (31+1) + (31+1) + (2+1)
REQUIRE(3 == que.push(&ins.getInstance(), 1'000'000'002'000ULL, meta, 31 + 31, payload.data()));
REQUIRE(3 == que.getSize());
REQUIRE(3 == alloc.getNumAllocatedFragments());
REQUIRE(40 < alloc.getTotalAllocatedAmount());
REQUIRE(400 > alloc.getTotalAllocatedAmount());
// Read the generated frames.
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 32);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data(), 31));
REQUIRE((0b10100000U | 26U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[31]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'002'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(2 == que.getSize());
REQUIRE(2 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 32);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data() + 31U, 31));
REQUIRE((0b00000000U | 26U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[31]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'002'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(1 == que.getSize());
REQUIRE(1 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 3); // The CRC plus the tail byte.
REQUIRE((CRC62 >> 8U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[0]);
REQUIRE((CRC62 & 0xFFU) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[1]);
REQUIRE((0b01100000U | 26U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[2]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'002'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(0 == que.getSize());
REQUIRE(0 == alloc.getNumAllocatedFragments());
// Multi-frame with padding.
// hex(pycyphal.transport.commons.crc.CRC16CCITT.new(list(range(112)) + [0] * 12).value)
constexpr std::uint16_t CRC112Padding12 = 0xE7A5U;
que.setMTU(64);
meta.priority = CanardPriorityImmediate;
meta.transfer_id = 27;
// 63 + 63 - 2 = 124 bytes; 124 - 112 = 12 bytes of padding.
REQUIRE(2 == que.push(&ins.getInstance(), 1'000'000'003'000ULL, meta, 112, payload.data()));
REQUIRE(2 == que.getSize());
REQUIRE(2 == alloc.getNumAllocatedFragments());
// Read the generated frames.
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 64);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data(), 63));
REQUIRE((0b10100000U | 27U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[63]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'003'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(1 == que.getSize());
REQUIRE(1 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 64);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data() + 63U, 49));
REQUIRE(std::all_of(reinterpret_cast<const std::uint8_t*>(ti->frame.payload) + 49, // Check padding.
reinterpret_cast<const std::uint8_t*>(ti->frame.payload) + 61,
[](auto x) { return x == 0U; }));
REQUIRE((CRC112Padding12 >> 8U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[61]); // CRC
REQUIRE((CRC112Padding12 & 0xFFU) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[62]); // CRC
REQUIRE((0b01000000U | 27U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[63]); // Tail
REQUIRE(ti->tx_deadline_usec == 1'000'000'003'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(0 == que.getSize());
REQUIRE(0 == alloc.getNumAllocatedFragments());
// Single-frame empty.
meta.transfer_id = 28;
REQUIRE(1 == que.push(&ins.getInstance(), 1'000'000'004'000ULL, meta, 0, nullptr));
REQUIRE(1 == que.getSize());
REQUIRE(1 == alloc.getNumAllocatedFragments());
REQUIRE(120 > alloc.getTotalAllocatedAmount());
REQUIRE(que.peek()->tx_deadline_usec == 1'000'000'004'000ULL);
REQUIRE(que.peek()->frame.payload_size == 1);
REQUIRE(que.peek()->isStartOfTransfer());
REQUIRE(que.peek()->isEndOfTransfer());
REQUIRE(que.peek()->isToggleBitSet());
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 1);
REQUIRE((0b11100000U | 28U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[0]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'004'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(0 == que.getSize());
REQUIRE(0 == alloc.getNumAllocatedFragments());
// Nothing left to peek at.
ti = que.peek();
REQUIRE(nullptr == ti);
// Invalid transfer.
meta.transfer_kind = CanardTransferKindMessage;
meta.remote_node_id = 42;
meta.transfer_id = 123;
REQUIRE(-CANARD_ERROR_INVALID_ARGUMENT ==
que.push(&ins.getInstance(), 1'000'000'005'000ULL, meta, 8, payload.data()));
ti = que.peek();
REQUIRE(nullptr == ti);
// Error handling.
REQUIRE(-CANARD_ERROR_INVALID_ARGUMENT == canardTxPush(nullptr, nullptr, 0, nullptr, 0, nullptr));
REQUIRE(-CANARD_ERROR_INVALID_ARGUMENT == canardTxPush(nullptr, nullptr, 0, &meta, 0, nullptr));
REQUIRE(-CANARD_ERROR_INVALID_ARGUMENT == canardTxPush(nullptr, &ins.getInstance(), 0, &meta, 0, nullptr));
REQUIRE(-CANARD_ERROR_INVALID_ARGUMENT ==
canardTxPush(&que.getInstance(), &ins.getInstance(), 0, nullptr, 0, nullptr));
REQUIRE(-CANARD_ERROR_INVALID_ARGUMENT == que.push(&ins.getInstance(), 1'000'000'006'000ULL, meta, 1, nullptr));
REQUIRE(nullptr == canardTxPeek(nullptr));
REQUIRE(nullptr == canardTxPop(nullptr, nullptr)); // No effect.
REQUIRE(nullptr == canardTxPop(&que.getInstance(), nullptr)); // No effect.
}
TEST_CASE("TxBasic1")
{
helpers::Instance ins;
helpers::TxQueue que(3, CANARD_MTU_CAN_FD); // Limit capacity at 3 frames.
auto& alloc = ins.getAllocator();
std::array<std::uint8_t, 1024> payload{};
for (std::size_t i = 0; i < std::size(payload); i++)
{
payload.at(i) = static_cast<std::uint8_t>(i & 0xFFU);
}
REQUIRE(CANARD_NODE_ID_UNSET == ins.getNodeID());
REQUIRE(CANARD_MTU_CAN_FD == que.getMTU());
REQUIRE(0 == que.getSize());
REQUIRE(0 == alloc.getNumAllocatedFragments());
CanardTransferMetadata meta{};
// Single-frame with padding.
meta.priority = CanardPriorityNominal;
meta.transfer_kind = CanardTransferKindMessage;
meta.port_id = 321;
meta.remote_node_id = CANARD_NODE_ID_UNSET;
meta.transfer_id = 21;
REQUIRE(1 == que.push(&ins.getInstance(), 1'000'000'000'000ULL, meta, 8, payload.data()));
REQUIRE(1 == que.getSize());
REQUIRE(1 == alloc.getNumAllocatedFragments());
REQUIRE(10 < alloc.getTotalAllocatedAmount());
REQUIRE(160 > alloc.getTotalAllocatedAmount());
REQUIRE(que.peek()->tx_deadline_usec == 1'000'000'000'000ULL);
REQUIRE(que.peek()->frame.payload_size == 12); // Three bytes of padding.
REQUIRE(que.peek()->getPayloadByte(0) == 0); // Payload start.
REQUIRE(que.peek()->getPayloadByte(1) == 1);
REQUIRE(que.peek()->getPayloadByte(2) == 2);
REQUIRE(que.peek()->getPayloadByte(3) == 3);
REQUIRE(que.peek()->getPayloadByte(4) == 4);
REQUIRE(que.peek()->getPayloadByte(5) == 5);
REQUIRE(que.peek()->getPayloadByte(6) == 6);
REQUIRE(que.peek()->getPayloadByte(7) == 7); // Payload end.
REQUIRE(que.peek()->getPayloadByte(8) == 0); // Padding.
REQUIRE(que.peek()->getPayloadByte(9) == 0); // Padding.
REQUIRE(que.peek()->getPayloadByte(10) == 0); // Padding.
REQUIRE(que.peek()->isStartOfTransfer()); // Tail byte at the end.
REQUIRE(que.peek()->isEndOfTransfer());
REQUIRE(que.peek()->isToggleBitSet());
// Multi-frame. Priority low, inserted at the end of the TX queue. Two frames exhaust the capacity of the queue.
meta.priority = CanardPriorityLow;
meta.transfer_id = 22;
que.setMTU(CANARD_MTU_CAN_CLASSIC);
ins.setNodeID(42);
REQUIRE(2 == que.push(&ins.getInstance(), 1'000'000'000'100ULL, meta, 8, payload.data())); // 8 bytes --> 2 frames
REQUIRE(3 == que.getSize());
REQUIRE(3 == alloc.getNumAllocatedFragments());
REQUIRE(20 < alloc.getTotalAllocatedAmount());
REQUIRE(400 > alloc.getTotalAllocatedAmount());
// Check the TX queue.
{
const auto q = que.linearize();
REQUIRE(3 == q.size());
REQUIRE(q.at(0)->tx_deadline_usec == 1'000'000'000'000ULL);
REQUIRE(q.at(0)->frame.payload_size == 12);
REQUIRE(q.at(0)->isStartOfTransfer());
REQUIRE(q.at(0)->isEndOfTransfer());
REQUIRE(q.at(0)->isToggleBitSet());
//
REQUIRE(q.at(1)->tx_deadline_usec == 1'000'000'000'100ULL);
REQUIRE(q.at(1)->frame.payload_size == 8);
REQUIRE(q.at(1)->isStartOfTransfer());
REQUIRE(!q.at(1)->isEndOfTransfer());
REQUIRE(q.at(1)->isToggleBitSet());
//
REQUIRE(q.at(2)->tx_deadline_usec == 1'000'000'000'100ULL);
REQUIRE(q.at(2)->frame.payload_size == 4); // One leftover, two CRC, one tail.
REQUIRE(!q.at(2)->isStartOfTransfer());
REQUIRE(q.at(2)->isEndOfTransfer());
REQUIRE(!q.at(2)->isToggleBitSet());
}
// Single-frame, OOM reported but the heap is not exhausted (because queue is filled up).
meta.priority = CanardPriorityLow;
meta.transfer_id = 23;
REQUIRE(-CANARD_ERROR_OUT_OF_MEMORY == que.push(&ins.getInstance(), 1'000'000'000'200ULL, meta, 1, payload.data()));
REQUIRE(3 == que.getSize());
REQUIRE(3 == alloc.getNumAllocatedFragments());
// Multi-frame, no frames are added -- bail early always.
meta.priority = CanardPriorityHigh;
meta.transfer_id = 24;
REQUIRE(-CANARD_ERROR_OUT_OF_MEMORY ==
que.push(&ins.getInstance(), 1'000'000'000'300ULL, meta, 100, payload.data()));
REQUIRE(3 == que.getSize());
REQUIRE(3 == alloc.getNumAllocatedFragments());
REQUIRE(20 < alloc.getTotalAllocatedAmount());
REQUIRE(400 > alloc.getTotalAllocatedAmount());
// Pop the queue.
// hex(pycyphal.transport.commons.crc.CRC16CCITT.new(list(range(8))).value)
constexpr std::uint16_t CRC8 = 0x178DU;
const CanardTxQueueItem* ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 12);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data(), 8));
REQUIRE(0 == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[8]); // Padding.
REQUIRE(0 == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[9]); // Padding.
REQUIRE(0 == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[10]); // Padding.
REQUIRE((0b11100000U | 21U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[11]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'000'000ULL);
ti = que.peek();
REQUIRE(nullptr != ti); // Make sure we get the same frame again.
REQUIRE(ti->frame.payload_size == 12);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data(), 8));
REQUIRE((0b11100000U | 21U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[11]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'000'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(2 == que.getSize());
REQUIRE(2 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 8);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data(), 7));
REQUIRE((0b10100000U | 22U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[7]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'000'100ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(1 == que.getSize());
REQUIRE(1 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 4);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data() + 7U, 1));
REQUIRE((CRC8 >> 8U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[1]);
REQUIRE((CRC8 & 0xFFU) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[2]);
REQUIRE((0b01000000U | 22U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[3]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'000'100ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(0 == que.getSize());
REQUIRE(0 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr == ti);
REQUIRE(nullptr == que.pop(ti)); // Invocation when empty has no effect.
REQUIRE(0 == que.getSize());
REQUIRE(0 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr == ti);
// Multi-frame, success. CRC split over the frame boundary.
// hex(pycyphal.transport.commons.crc.CRC16CCITT.new(list(range(61))).value)
constexpr std::uint16_t CRC61 = 0x554EU;
que.setMTU(32);
meta.priority = CanardPriorityFast;
meta.transfer_id = 25;
// CRC takes 2 bytes at the end; 3 frames: (31+1) + (30+1+1) + (1+1)
REQUIRE(3 == que.push(&ins.getInstance(), 1'000'000'001'000ULL, meta, 31 + 30, payload.data()));
REQUIRE(3 == que.getSize());
REQUIRE(3 == alloc.getNumAllocatedFragments());
REQUIRE(40 < alloc.getTotalAllocatedAmount());
REQUIRE(400 > alloc.getTotalAllocatedAmount());
// Read the generated frames.
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 32);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data(), 31));
REQUIRE((0b10100000U | 25U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[31]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'001'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(2 == que.getSize());
REQUIRE(2 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 32);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data() + 31U, 30));
REQUIRE((CRC61 >> 8U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[30]);
REQUIRE((0b00000000U | 25U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[31]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'001'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(1 == que.getSize());
REQUIRE(1 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 2); // The last byte of CRC plus the tail byte.
REQUIRE((CRC61 & 0xFFU) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[0]);
REQUIRE((0b01100000U | 25U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[1]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'001'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(0 == que.getSize());
REQUIRE(0 == alloc.getNumAllocatedFragments());
// Multi-frame, success. CRC is in the last frame->
// hex(pycyphal.transport.commons.crc.CRC16CCITT.new(list(range(62))).value)
constexpr std::uint16_t CRC62 = 0xA3AEU;
que.setMTU(32);
meta.priority = CanardPrioritySlow;
meta.transfer_id = 26;
// CRC takes 2 bytes at the end; 3 frames: (31+1) + (31+1) + (2+1)
REQUIRE(3 == que.push(&ins.getInstance(), 1'000'000'002'000ULL, meta, 31 + 31, payload.data()));
REQUIRE(3 == que.getSize());
REQUIRE(3 == alloc.getNumAllocatedFragments());
REQUIRE(40 < alloc.getTotalAllocatedAmount());
REQUIRE(400 > alloc.getTotalAllocatedAmount());
// Read the generated frames.
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 32);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data(), 31));
REQUIRE((0b10100000U | 26U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[31]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'002'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(2 == que.getSize());
REQUIRE(2 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 32);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data() + 31U, 31));
REQUIRE((0b00000000U | 26U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[31]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'002'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(1 == que.getSize());
REQUIRE(1 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 3); // The CRC plus the tail byte.
REQUIRE((CRC62 >> 8U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[0]);
REQUIRE((CRC62 & 0xFFU) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[1]);
REQUIRE((0b01100000U | 26U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[2]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'002'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(0 == que.getSize());
REQUIRE(0 == alloc.getNumAllocatedFragments());
// Multi-frame with padding.
// hex(pycyphal.transport.commons.crc.CRC16CCITT.new(list(range(112)) + [0] * 12).value)
constexpr std::uint16_t CRC112Padding12 = 0xE7A5U;
que.setMTU(64);
meta.priority = CanardPriorityImmediate;
meta.transfer_id = 27;
// 63 + 63 - 2 = 124 bytes; 124 - 112 = 12 bytes of padding.
REQUIRE(2 == que.push(&ins.getInstance(), 1'000'000'003'000ULL, meta, 112, payload.data()));
REQUIRE(2 == que.getSize());
REQUIRE(2 == alloc.getNumAllocatedFragments());
// Read the generated frames.
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 64);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data(), 63));
REQUIRE((0b10100000U | 27U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[63]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'003'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(1 == que.getSize());
REQUIRE(1 == alloc.getNumAllocatedFragments());
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 64);
REQUIRE(0 == std::memcmp(ti->frame.payload, payload.data() + 63U, 49));
REQUIRE(std::all_of(reinterpret_cast<const std::uint8_t*>(ti->frame.payload) + 49, // Check padding.
reinterpret_cast<const std::uint8_t*>(ti->frame.payload) + 61,
[](auto x) { return x == 0U; }));
REQUIRE((CRC112Padding12 >> 8U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[61]); // CRC
REQUIRE((CRC112Padding12 & 0xFFU) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[62]); // CRC
REQUIRE((0b01000000U | 27U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[63]); // Tail
REQUIRE(ti->tx_deadline_usec == 1'000'000'003'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(0 == que.getSize());
REQUIRE(0 == alloc.getNumAllocatedFragments());
// Single-frame empty.
meta.transfer_id = 28;
REQUIRE(1 == que.push(&ins.getInstance(), 1'000'000'004'000ULL, meta, 0, nullptr));
REQUIRE(1 == que.getSize());
REQUIRE(1 == alloc.getNumAllocatedFragments());
REQUIRE(120 > alloc.getTotalAllocatedAmount());
REQUIRE(que.peek()->tx_deadline_usec == 1'000'000'004'000ULL);
REQUIRE(que.peek()->frame.payload_size == 1);
REQUIRE(que.peek()->isStartOfTransfer());
REQUIRE(que.peek()->isEndOfTransfer());
REQUIRE(que.peek()->isToggleBitSet());
ti = que.peek();
REQUIRE(nullptr != ti);
REQUIRE(ti->frame.payload_size == 1);
REQUIRE((0b11100000U | 28U) == reinterpret_cast<const std::uint8_t*>(ti->frame.payload)[0]);
REQUIRE(ti->tx_deadline_usec == 1'000'000'004'000ULL);
ins.getAllocator().deallocate(que.pop(ti));
REQUIRE(0 == que.getSize());
REQUIRE(0 == alloc.getNumAllocatedFragments());
// Nothing left to peek at.
ti = que.peek();
REQUIRE(nullptr == ti);
// Invalid transfer.
meta.transfer_kind = CanardTransferKindMessage;
meta.remote_node_id = 42;
meta.transfer_id = 123;
REQUIRE(-CANARD_ERROR_INVALID_ARGUMENT ==
que.push(&ins.getInstance(), 1'000'000'005'000ULL, meta, 8, payload.data()));
ti = que.peek();
REQUIRE(nullptr == ti);
// Error handling.
REQUIRE(-CANARD_ERROR_INVALID_ARGUMENT == canardTxPush(nullptr, nullptr, 0, nullptr, 0, nullptr));
REQUIRE(-CANARD_ERROR_INVALID_ARGUMENT == canardTxPush(nullptr, nullptr, 0, &meta, 0, nullptr));
REQUIRE(-CANARD_ERROR_INVALID_ARGUMENT == canardTxPush(nullptr, &ins.getInstance(), 0, &meta, 0, nullptr));
REQUIRE(-CANARD_ERROR_INVALID_ARGUMENT ==
canardTxPush(&que.getInstance(), &ins.getInstance(), 0, nullptr, 0, nullptr));
REQUIRE(-CANARD_ERROR_INVALID_ARGUMENT == que.push(&ins.getInstance(), 1'000'000'006'000ULL, meta, 1, nullptr));
REQUIRE(nullptr == canardTxPeek(nullptr));
REQUIRE(nullptr == canardTxPop(nullptr, nullptr)); // No effect.
REQUIRE(nullptr == canardTxPop(&que.getInstance(), nullptr)); // No effect.
}