Martino FerrariandClaude Opus 4.6
892e3eae28
Forward-chaining each accumulated burst onto the previous one suppresses arrival jitter, but an unchecked chain never recovers: one lost datagram, or a declared sampling rate that differs from the producer's real one, dates every later sample early for the rest of the run. The chain is now a prediction, compared each packet against the arrival anchor and abandoned beyond kBurstResyncThresholdS, which bounds the error instead of accumulating it. Plan amended so the hrt-fit fallback (unusable here: the fit needs 32 packets and is itself corrupted by bursty arrivals) cannot come back. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
316 lines
10 KiB
C++
316 lines
10 KiB
C++
#include "FrameDecoder.h"
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#include <gtest/gtest.h>
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#include <vector>
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using namespace udpscope;
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namespace {
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/** Builds a FrameView over vectors the test owns. */
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struct FrameBuilder {
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std::vector<std::vector<double>> storage;
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std::vector<const double*> ptrs;
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std::vector<uint32_t> counts;
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FrameView view;
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void addSignal(std::vector<double> vals) {
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storage.push_back(std::move(vals));
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}
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const FrameView& build(uint64_t hrt, double recvTime, uint32_t numSamples = 1) {
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ptrs.clear();
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counts.clear();
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for (const auto& s : storage) {
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ptrs.push_back(s.data());
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counts.push_back(static_cast<uint32_t>(s.size()));
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}
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view.hrt = hrt;
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view.recvTime = recvTime;
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view.numSamples = numSamples;
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view.numSignals = static_cast<uint32_t>(storage.size());
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view.values = ptrs.data();
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view.counts = counts.data();
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return view;
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}
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};
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SignalMeta burst(const char* name, uint8_t timeMode, double rate,
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uint32_t elems, uint32_t timeIdx) {
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SignalMeta m;
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m.name = name;
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m.typeCode = 8; /* float32 */
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m.numRows = elems;
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m.numCols = 1;
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m.timeMode = timeMode;
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m.samplingRate = rate;
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m.timeSignalIdx = timeIdx;
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return m;
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}
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SignalMeta timeSignal(const char* name, uint32_t elems) {
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SignalMeta m;
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m.name = name;
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m.typeCode = 6; /* uint64 -> nanoseconds */
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m.numRows = elems;
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m.numCols = 1;
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return m;
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}
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} /* namespace */
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TEST(FrameDecoder, FullArrayTakesOneStampPerElementFromTheTimeSignal) {
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FrameDecoder dec;
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dec.setSignals({burst("Sine", kTimeFullArray, 1000.0, 4, 1),
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timeSignal("Time", 4)});
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FrameBuilder fb;
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fb.addSignal({1.0, 2.0, 3.0, 4.0});
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/* Nanoseconds: 5.000, 5.001, 5.002, 5.003 s of producer time. */
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fb.addSignal({5.0e9, 5.001e9, 5.002e9, 5.003e9});
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const FrameView& f = fb.build(0, 1000.0);
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dec.beginFrame(f);
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std::vector<double> ts;
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ASSERT_TRUE(dec.timestamps(f, 0, ts));
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ASSERT_EQ(ts.size(), 4u);
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/* Element 0 lands on the arrival time; the rest keep the producer spacing. */
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EXPECT_NEAR(ts[0], 1000.000, 1e-9);
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EXPECT_NEAR(ts[1], 1000.001, 1e-9);
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EXPECT_NEAR(ts[2], 1000.002, 1e-9);
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EXPECT_NEAR(ts[3], 1000.003, 1e-9);
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}
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TEST(FrameDecoder, FirstSampleAnchorsElementZeroAndCountsForward) {
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FrameDecoder dec;
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dec.setSignals({burst("Sine", kTimeFirstSample, 1000.0, 4, 1),
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timeSignal("Time", 1)});
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FrameBuilder fb;
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fb.addSignal({1.0, 2.0, 3.0, 4.0});
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fb.addSignal({7.0e9});
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const FrameView& f = fb.build(0, 2000.0);
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dec.beginFrame(f);
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std::vector<double> ts;
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ASSERT_TRUE(dec.timestamps(f, 0, ts));
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ASSERT_EQ(ts.size(), 4u);
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EXPECT_NEAR(ts[0], 2000.000, 1e-9);
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EXPECT_NEAR(ts[3], 2000.003, 1e-9);
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}
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TEST(FrameDecoder, LastSampleAnchorsTheFinalElementAndCountsBackward) {
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FrameDecoder dec;
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dec.setSignals({burst("Sine", kTimeLastSample, 1000.0, 4, 1),
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timeSignal("Time", 1)});
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FrameBuilder fb;
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fb.addSignal({1.0, 2.0, 3.0, 4.0});
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fb.addSignal({7.0e9});
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const FrameView& f = fb.build(0, 3000.0);
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dec.beginFrame(f);
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std::vector<double> ts;
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ASSERT_TRUE(dec.timestamps(f, 0, ts));
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ASSERT_EQ(ts.size(), 4u);
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EXPECT_NEAR(ts[3], 3000.000, 1e-9);
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EXPECT_NEAR(ts[0], 3000.000 - 0.003, 1e-9);
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}
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TEST(FrameDecoder, PlainScalarUsesArrivalTime) {
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FrameDecoder dec;
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SignalMeta m;
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m.name = "Level";
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m.typeCode = 9;
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dec.setSignals({m});
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FrameBuilder fb;
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fb.addSignal({42.0});
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const FrameView& f = fb.build(0, 1234.5);
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dec.beginFrame(f);
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std::vector<double> ts;
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ASSERT_TRUE(dec.timestamps(f, 0, ts));
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ASSERT_EQ(ts.size(), 1u);
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EXPECT_DOUBLE_EQ(ts[0], 1234.5);
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}
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// This is the failure UDPSourceSession.cpp:560 documents. The kernel delivers
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// two queued datagrams microseconds apart even though each carries 10 ms of
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// signal. Dating from arrival crams the second packet's samples into that gap
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// and the trace becomes a sawtooth; dating from the producer hrt does not.
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TEST(FrameDecoder, AccumulatedScalarSurvivesBurstyDelivery) {
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FrameDecoder dec;
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SignalMeta m;
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m.name = "Acc";
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m.typeCode = 9;
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m.numRows = 1;
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m.samplingRate = 1000.0; /* 1 kHz, 10 samples = 10 ms per packet */
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dec.setSignals({m});
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const double ticks = 1.0e9;
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std::vector<double> all;
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for (int p = 0; p < 40; p++) {
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FrameBuilder fb;
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fb.addSignal(std::vector<double>(10, static_cast<double>(p)));
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const double producerSec = 100.0 + p * 0.010;
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/* Packets 20+ arrive in a burst, all within 50 us of each other. */
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const double arrival = (p < 20) ? (500.0 + p * 0.010)
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: (500.2 + (p - 20) * 0.00005);
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const FrameView& f = fb.build(static_cast<uint64_t>(producerSec * ticks),
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arrival, 10);
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dec.beginFrame(f);
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std::vector<double> ts;
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if (dec.timestamps(f, 0, ts)) {
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all.insert(all.end(), ts.begin(), ts.end());
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}
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}
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ASSERT_GT(all.size(), 300u);
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for (size_t i = 1; i < all.size(); i++) {
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EXPECT_GT(all[i], all[i - 1]) << "non-monotonic at " << i;
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EXPECT_NEAR(all[i] - all[i - 1], 0.001, 2e-4)
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<< "spacing collapsed at " << i << " (sawtooth)";
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}
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}
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// The counterweight to the test above. Suppressing arrival jitter by chaining
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// each burst onto the previous one is only safe while the chain is checked: on
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// UDP, packets are lost, and a chain that ignores arrival entirely closes the
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// hole silently and dates every later sample a full second early — for the rest
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// of the run, because nothing ever pulls it back. The prediction has to be
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// abandoned once arrival contradicts it by more than a delivery backlog could.
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TEST(FrameDecoder, AccumulatedScalarResynchronisesAfterLostPackets) {
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FrameDecoder dec;
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SignalMeta m;
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m.name = "Acc";
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m.typeCode = 9;
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m.numRows = 1;
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m.samplingRate = 1000.0; /* 10 samples = 10 ms per packet */
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dec.setSignals({m});
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std::vector<double> ts;
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for (int p = 0; p < 10; p++) {
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FrameBuilder fb;
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fb.addSignal(std::vector<double>(10, 1.0));
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const FrameView& f = fb.build(0, 500.0 + p * 0.010, 10);
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dec.beginFrame(f);
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ASSERT_TRUE(dec.timestamps(f, 0, ts));
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}
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/* Contiguous so far: burst 9 ends at 500.090. */
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EXPECT_NEAR(ts[9], 500.090, 1e-9);
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/* A full second of packets never arrives. The next one lands at 501.100. */
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FrameBuilder fb;
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fb.addSignal(std::vector<double>(10, 1.0));
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const FrameView& f = fb.build(0, 501.100, 10);
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dec.beginFrame(f);
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ASSERT_TRUE(dec.timestamps(f, 0, ts));
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/* Chaining blindly would put this burst at 500.091..500.100, overlapping
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* the gap as though no data were missing. */
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EXPECT_NEAR(ts[0], 501.091, 1e-9);
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EXPECT_NEAR(ts[9], 501.100, 1e-9);
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}
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TEST(FrameDecoder, AccumulatedScalarDerivesDtFromTheHrtGapWhenNoRateIsDeclared) {
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FrameDecoder dec;
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SignalMeta m;
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m.name = "Acc";
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m.typeCode = 9;
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m.samplingRate = 0.0; /* undeclared */
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dec.setSignals({m});
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const double ticks = 1.0e9;
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std::vector<double> last;
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for (int p = 0; p < 40; p++) {
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FrameBuilder fb;
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fb.addSignal(std::vector<double>(10, 1.0));
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const double producerSec = 100.0 + p * 0.010; /* 10 ms per packet */
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const FrameView& f = fb.build(static_cast<uint64_t>(producerSec * ticks),
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700.0 + p * 0.010, 10);
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dec.beginFrame(f);
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std::vector<double> ts;
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if (dec.timestamps(f, 0, ts)) { last = ts; }
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}
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ASSERT_EQ(last.size(), 10u);
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/* 10 ms of producer time across 10 samples is a 1 ms period. */
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EXPECT_NEAR(last[1] - last[0], 0.001, 1e-5);
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}
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// A PACKET burst has no per-element time at all. Elements span
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// (lastPacket, thisPacket] — backwards from arrival, because the samples were
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// acquired before the packet landed. Forward extrapolation would let a jittered
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// packet overlap the next one and break ring monotonicity.
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TEST(FrameDecoder, PacketBurstDropsTheFirstFrameThenSpansBackwards) {
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FrameDecoder dec;
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dec.setSignals({burst("Raw", kTimePacket, 0.0, 5, kNoTimeSignal)});
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FrameBuilder fb1;
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fb1.addSignal({1.0, 2.0, 3.0, 4.0, 5.0});
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const FrameView& f1 = fb1.build(0, 10.0);
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dec.beginFrame(f1);
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std::vector<double> ts;
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EXPECT_FALSE(dec.timestamps(f1, 0, ts))
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<< "the first packet has no previous arrival to span from";
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FrameBuilder fb2;
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fb2.addSignal({6.0, 7.0, 8.0, 9.0, 10.0});
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const FrameView& f2 = fb2.build(0, 10.05);
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dec.beginFrame(f2);
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ASSERT_TRUE(dec.timestamps(f2, 0, ts));
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ASSERT_EQ(ts.size(), 5u);
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EXPECT_GT(ts[0], 10.0);
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EXPECT_NEAR(ts[4], 10.05, 1e-12);
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EXPECT_NEAR(ts[1] - ts[0], 0.01, 1e-12);
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}
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TEST(FrameDecoder, PacketBurstStaysMonotonicUnderJitteredArrivals) {
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FrameDecoder dec;
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dec.setSignals({burst("Raw", kTimePacket, 0.0, 8, kNoTimeSignal)});
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const double jitter[] = {0.0, 0.004, -0.003, 0.006, -0.002, 0.0, 0.005, -0.004};
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std::vector<double> all;
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for (int p = 0; p < 8; p++) {
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FrameBuilder fb;
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fb.addSignal(std::vector<double>(8, 1.0));
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const FrameView& f = fb.build(0, 20.0 + p * 0.05 + jitter[p]);
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dec.beginFrame(f);
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std::vector<double> ts;
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if (dec.timestamps(f, 0, ts)) {
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all.insert(all.end(), ts.begin(), ts.end());
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}
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}
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ASSERT_GT(all.size(), 8u);
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for (size_t i = 1; i < all.size(); i++) {
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EXPECT_GT(all[i], all[i - 1]) << "packets overlapped at " << i;
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}
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}
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TEST(FrameDecoder, ResetForgetsPerSignalHistory) {
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FrameDecoder dec;
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dec.setSignals({burst("Raw", kTimePacket, 0.0, 4, kNoTimeSignal)});
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FrameBuilder fb;
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fb.addSignal({1.0, 2.0, 3.0, 4.0});
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const FrameView& f = fb.build(0, 5.0);
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dec.beginFrame(f);
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std::vector<double> ts;
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EXPECT_FALSE(dec.timestamps(f, 0, ts));
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const FrameView& f2 = fb.build(0, 5.1);
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dec.beginFrame(f2);
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EXPECT_TRUE(dec.timestamps(f2, 0, ts));
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dec.reset();
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const FrameView& f3 = fb.build(0, 5.2);
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dec.beginFrame(f3);
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EXPECT_FALSE(dec.timestamps(f3, 0, ts))
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<< "after reset the next packet is again the first one";
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}
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