fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 00:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

TransferListener partially implemented

Browse Source
This commit is contained in:
Pavel Kirienko
2014-02-11 21:55:36 +04:00
parent 0acf1b976b
commit 0bc62a74c9
3 changed files with 89 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/src/transport/transfer_listener.cpp
+27 -12
View File
@@ -41,26 +41,21 @@ int SingleFrameIncomingTransfer::read(unsigned int offset, uint8_t* data, unsign
* MultiFrameIncomingTransfer
*/
MultiFrameIncomingTransfer::MultiFrameIncomingTransfer(const RxFrame& last_frame, uint8_t buffer_offset,
ITransferBufferManager* bufmgr,
const TransferBufferManagerKey& bufmgr_key)
TransferBufferAccessor& tba)
: IncomingTransfer(last_frame.ts_monotonic, last_frame.ts_utc, last_frame.transfer_type,
last_frame.transfer_id, last_frame.source_node_id)
, bufmgr_(bufmgr)
, bufmgr_key_(bufmgr_key)
, buf_acc_(tba)
, buffer_offset_(buffer_offset)
{
assert(bufmgr);
assert(!bufmgr_key.isEmpty());
assert(last_frame.last_frame);
}
int MultiFrameIncomingTransfer::read(unsigned int offset, uint8_t* data, unsigned int len) const
{
const TransferBufferBase* const tbb = const_cast<ITransferBufferManager*>(bufmgr_)->access(bufmgr_key_);
const TransferBufferBase* const tbb = const_cast<TransferBufferAccessor&>(buf_acc_).access();
if (tbb == NULL)
{
UAVCAN_TRACE("MultiFrameIncomingTransfer", "Read failed: no such buffer %s",
bufmgr_key_.toString().c_str());
UAVCAN_TRACE("MultiFrameIncomingTransfer", "Read failed: no such buffer");
return -1;
}
return tbb->read(offset + buffer_offset_, data, len);
@@ -70,10 +65,30 @@ int MultiFrameIncomingTransfer::read(unsigned int offset, uint8_t* data, unsigne
* TransferListenerBase
*/
void TransferListenerBase::handleReception(TransferReceiver& receiver, const RxFrame& frame,
const TransferBufferManagerKey& bufmgr_key)
TransferBufferAccessor& tba)
{
const TransferReceiver::ResultCode result = receiver.addFrame(frame, bufmgr_key);
(void)result;
const TransferReceiver::ResultCode result = receiver.addFrame(frame, tba);
switch (result)
{
case TransferReceiver::RESULT_NOT_COMPLETE:
break;
case TransferReceiver::RESULT_SINGLE_FRAME:
{
SingleFrameIncomingTransfer it(frame);
handleIncomingTransfer(it);
break;
}
case TransferReceiver::RESULT_COMPLETE:
{
// TODO: check CRC
// TODO: select the buffer offset
const int buffer_offset = 123;
MultiFrameIncomingTransfer it(frame, buffer_offset, tba);
handleIncomingTransfer(it);
break;
}
}
}
}