fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-14 04:10:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Type safe DataTypeID class

Browse Source
This commit is contained in:
Pavel Kirienko
2014-03-11 21:29:35 +04:00
parent befea376c2
commit 62ea9e2746
11 changed files with 73 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/src/data_type.cpp
+3 -2
View File
@@ -45,7 +45,7 @@ bool DataTypeDescriptor::match(DataTypeKind kind, const char* name) const
return (kind_ == kind) && !std::strcmp(full_name_, name);
}
bool DataTypeDescriptor::match(DataTypeKind kind, uint16_t id) const
bool DataTypeDescriptor::match(DataTypeKind kind, DataTypeID id) const
{
return (kind_ == kind) && (id_ == id);
}
@@ -61,7 +61,8 @@ std::string DataTypeDescriptor::toString() const
}
std::ostringstream os;
os << full_name_ << ":" << id_ << kindch << ":" << std::hex << std::setfill('0') << std::setw(16) << signature_.get();
os << full_name_ << ":" << id_.get() << kindch << ":" << std::hex
<< std::setfill('0') << std::setw(16) << signature_.get();
return os.str();
}
libuavcan/src/global_data_type_registry.cpp
+10 -9
View File
@@ -62,7 +62,7 @@ GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::remove(Entry* dtd)
GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::registImpl(Entry* dtd)
{
if (!dtd || (dtd->descriptor.getID() > DataTypeDescriptor::MaxDataTypeID))
if (!dtd || (dtd->descriptor.getID() > DataTypeID::Max))
{
assert(0);
return RegistResultInvalidParams;
@@ -93,12 +93,12 @@ GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::registImpl(Entry* d
int id = -1;
while (p)
{
if (id >= p->descriptor.getID())
if (id >= p->descriptor.getID().get())
{
assert(0);
std::abort();
}
id = p->descriptor.getID();
id = p->descriptor.getID().get();
p = p->getNextListNode();
}
}
@@ -158,8 +158,9 @@ DataTypeSignature GlobalDataTypeRegistry::computeAggregateSignature(DataTypeKind
while (p)
{
const DataTypeDescriptor& desc = p->descriptor;
const int dtid = desc.getID().get();
if (inout_id_mask[desc.getID()])
if (inout_id_mask[dtid])
{
if (signature_initialized)
signature.extend(desc.getSignature());
@@ -168,16 +169,16 @@ DataTypeSignature GlobalDataTypeRegistry::computeAggregateSignature(DataTypeKind
signature_initialized = true;
}
assert(prev_dtid < desc.getID()); // Making sure that list is ordered properly
assert(prev_dtid < dtid); // Making sure that list is ordered properly
prev_dtid++;
while (prev_dtid < desc.getID())
while (prev_dtid < dtid)
inout_id_mask[prev_dtid++] = false; // Erasing bits for missing types
assert(prev_dtid == desc.getID());
assert(prev_dtid == dtid);
p = p->getNextListNode();
}
prev_dtid++;
while (prev_dtid <= DataTypeDescriptor::MaxDataTypeID)
while (prev_dtid <= DataTypeID::Max)
inout_id_mask[prev_dtid++] = false;
return signature;
@@ -196,7 +197,7 @@ void GlobalDataTypeRegistry::getDataTypeIDMask(DataTypeKind kind, DataTypeIDMask
while (p)
{
assert(p->descriptor.getKind() == kind);
mask[p->descriptor.getID()] = true;
mask[p->descriptor.getID().get()] = true;
p = p->getNextListNode();
}
}
libuavcan/src/internal/transport/frame.cpp
+4 -4
View File
@@ -122,7 +122,7 @@ bool Frame::compile(CanFrame& out_can_frame) const
bitpack<4, 6>(frame_index_) |
bitpack<10, 7>(src_node_id_.get()) |
bitpack<17, 2>(transfer_type_) |
bitpack<19, 10>(data_type_id_);
bitpack<19, 10>(data_type_id_.get());
switch (transfer_type_)
{
@@ -159,7 +159,7 @@ bool Frame::isValid() const
((transfer_type_ == TransferTypeMessageBroadcast) != dst_node_id_.isBroadcast()) ||
(transfer_type_ >= NumTransferTypes) ||
(payload_len_ > getMaxPayloadLen()) ||
(data_type_id_ > DataTypeDescriptor::MaxDataTypeID);
(!data_type_id_.isValid());
return !invalid;
}
@@ -192,8 +192,8 @@ std::string Frame::toString() const
static const int BUFLEN = 100;
char buf[BUFLEN];
int ofs = std::snprintf(buf, BUFLEN, "dtid=%i tt=%i snid=%i dnid=%i idx=%i last=%i tid=%i payload=[",
int(data_type_id_), int(transfer_type_), int(src_node_id_.get()), int(dst_node_id_.get()),
int(frame_index_), int(last_frame_), int(transfer_id_.get()));
int(data_type_id_.get()), int(transfer_type_), int(src_node_id_.get()),
int(dst_node_id_.get()), int(frame_index_), int(last_frame_), int(transfer_id_.get()));
for (int i = 0; i < payload_len_; i++)
{