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TransferID class

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Pavel Kirienko
2014-02-02 01:57:54 +04:00
parent 5252972d3e
commit 4bf2b2e81a
3 changed files with 113 additions and 24 deletions
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libuavcan/src/transport/transfer.cpp
+7 -14
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@@ -1,27 +1,20 @@
/*
* Copyright (C) 2014 <pavel.kirienko@gmail.com>
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <cassert>
#include <uavcan/internal/transport/transfer.hpp>
namespace uavcan
{
//static Frame Frame::parse(const CanFrame& can_frame)
//{
//}
int Frame::subtractTransferID(int rhs) const
int TransferID::forwardDistance(TransferID rhs) const
{
static const int RANGE = MAX_TRANSFER_ID + 1; // 16 256
static const int NEGATIVE = -RANGE / 2; // -8 -128 (two's complement)
static const int POSITIVE = (-NEGATIVE) - 1; // 7 127
int d = int(rhs.get()) - int(get());
if (d < 0)
d += 1 << BITLEN;
const int d = int(this->transfer_id) - rhs;
if (d <= NEGATIVE)
return RANGE + d;
else if (d >= POSITIVE)
return d - RANGE;
assert(((get() + d) & MAX) == rhs.get());
return d;
}