IncomingTransfer for single frame and multi frame transfers

2026-11-02 06:51:36 +08:00 · 2014-02-11 18:08:20 +04:00
parent 55ea9963f0
commit 445ec8173c
4 changed files with 341 additions and 2 deletions
@@ -0,0 +1,77 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <uavcan/internal/transport/transfer_listener.hpp>
+
+namespace uavcan
+{
+
+/*
+ * SingleFrameIncomingTransfer
+ */
+SingleFrameIncomingTransfer::SingleFrameIncomingTransfer(const RxFrame& frm)
+: IncomingTransfer(frm.ts_monotonic, frm.ts_utc, frm.transfer_type, frm.transfer_id, frm.source_node_id)
+, payload_len_(frm.payload_len)
+{
+    assert(frm.payload_len <= Frame::PAYLOAD_LEN_MAX);
+    assert(frm.frame_index == 0);
+    assert(frm.last_frame);
+    std::copy(frm.payload, frm.payload + frm.payload_len, payload_);
+}
+
+int SingleFrameIncomingTransfer::read(unsigned int offset, uint8_t* data, unsigned int len) const
+{
+    if (data == NULL)
+    {
+        assert(0);
+        return -1;
+    }
+    if (offset >= payload_len_)
+        return 0;
+    if ((offset + len) > payload_len_)
+        len = payload_len_ - offset;
+    assert((offset + len) <= payload_len_);
+    std::copy(payload_ + offset, payload_ + offset + len, data);
+    return len;
+}
+
+/*
+ * MultiFrameIncomingTransfer
+ */
+MultiFrameIncomingTransfer::MultiFrameIncomingTransfer(const RxFrame& last_frame, uint8_t buffer_offset,
+                                                       ITransferBufferManager* bufmgr,
+                                                       const TransferBufferManagerKey& bufmgr_key)
+: 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)
+, 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_);
+    if (tbb == NULL)
+    {
+        UAVCAN_TRACE("MultiFrameIncomingTransfer", "Read failed: no such buffer %s",
+            bufmgr_key_.toString().c_str());
+        return -1;
+    }
+    return tbb->read(offset + buffer_offset_, data, len);
+}
+
+/*
+ * TransferListenerBase
+ */
+void TransferListenerBase::handleReception(TransferReceiver& receiver, const RxFrame& frame)
+{
+    (void)receiver;
+    (void)frame;
+}
+
+}