Subscriber with simple test

2026-10-22 07:23:35 +08:00 · 2014-03-09 17:58:32 +04:00
parent 5fa5962f6f
commit 2c2d7605a7
3 changed files with 370 additions and 0 deletions
@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <cassert>
+#include <uavcan/internal/transport/transfer_listener.hpp>
+
+namespace uavcan
+{
+
+template <typename DataType_>
+class ReceivedDataStructure : public DataType_
+{
+    const IncomingTransfer* transfer_;
+
+    template <typename Ret, Ret (IncomingTransfer::*Fun)() const>
+    Ret safeget() const
+    {
+        if (!transfer_)
+        {
+            assert(0);
+            return Ret();
+        }
+        return (transfer_->*Fun)();
+    }
+
+protected:
+    ReceivedDataStructure() : transfer_(NULL) { }
+
+    void setTransfer(const IncomingTransfer* transfer)
+    {
+        assert(transfer);
+        transfer_ = transfer;
+    }
+
+public:
+    typedef DataType_ DataType;
+
+    uint64_t getMonotonicTimestamp() const { return safeget<uint64_t, &IncomingTransfer::getMonotonicTimestamp>(); }
+    uint64_t getUtcTimestamp()       const { return safeget<uint64_t, &IncomingTransfer::getUtcTimestamp>(); }
+    TransferType getTransferType()   const { return safeget<TransferType, &IncomingTransfer::getTransferType>(); }
+    TransferID getTransferID()       const { return safeget<TransferID, &IncomingTransfer::getTransferID>(); }
+    NodeID getSrcNodeID()            const { return safeget<NodeID, &IncomingTransfer::getSrcNodeID>(); }
+};
+
+}