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TransferListener implemented and tested

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This commit is contained in:
Pavel Kirienko
2014-02-13 13:01:08 +04:00
parent f78a2a452c
commit 2d2116f624
8 changed files with 584 additions and 83 deletions
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libuavcan/src/transport/transfer_listener.cpp
+7 -1
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@@ -67,8 +67,14 @@ bool TransferListenerBase::checkPayloadCrc(const uint16_t compare_with, const Tr
{
uint8_t buf[16];
const int res = tbb.read(offset, buf, sizeof(buf));
if (res < 0)
{
UAVCAN_TRACE("TransferListenerBase", "Failed to check CRC: Buffer read failure %i", res);
return false;
}
if (res == 0)
break;
offset += res;
crc.add(buf, res);
}
return crc.get() == compare_with;
@@ -110,7 +116,7 @@ void TransferListenerBase::handleReception(TransferReceiver& receiver, const RxF
if (!checkPayloadCrc(receiver.getLastTransferCrc(), *tbb))
{
UAVCAN_TRACE("TransferListenerBase", "CRC mismatch, last frame: %s", frame.toString().c_str());
UAVCAN_TRACE("TransferListenerBase", "CRC error, last frame: %s", frame.toString().c_str());
return;
}