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CanRxFrame inherits CanFrame

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This commit is contained in:
Pavel Kirienko
2014-02-02 22:58:44 +04:00
parent 8794c7eab9
commit 6790b04056
5 changed files with 8 additions and 8 deletions
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libuavcan/include/uavcan/internal/transport/can_io.hpp
+1 -2
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@@ -15,9 +15,8 @@
namespace uavcan namespace uavcan
{ {
struct CanRxFrame struct CanRxFrame : public CanFrame
{ {
CanFrame frame;
uint64_t timestamp; uint64_t timestamp;
uint8_t iface_index; uint8_t iface_index;
libuavcan/include/uavcan/internal/transport/transfer.hpp
+1 -1
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@@ -137,7 +137,7 @@ struct RxFrame
bool parse(const CanRxFrame& can_frame) bool parse(const CanRxFrame& can_frame)
{ {
if (!frame.parse(can_frame.frame)) if (!frame.parse(can_frame))
return false; return false;
timestamp = can_frame.timestamp; timestamp = can_frame.timestamp;
iface_index = can_frame.iface_index; iface_index = can_frame.iface_index;
libuavcan/src/transport/can_io.cpp
+1 -1
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@@ -347,7 +347,7 @@ int CanIOManager::receive(CanRxFrame& frame, uint64_t monotonic_deadline)
assert(0); // Nonexistent interface assert(0); // Nonexistent interface
continue; continue;
} }
const int res = iface->receive(frame.frame, frame.timestamp); const int res = iface->receive(frame, frame.timestamp);
if (res == 0) if (res == 0)
{ {
assert(0); // select() reported that iface has pending RX frames, but receive() returned none assert(0); // select() reported that iface has pending RX frames, but receive() returned none
libuavcan/test/transport/can/io.cpp
+4 -3
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@@ -196,13 +196,14 @@ TEST(CanIOManager, CanDriverMock)
static bool rxFrameEquals(const uavcan::CanRxFrame& rxframe, const uavcan::CanFrame& frame, static bool rxFrameEquals(const uavcan::CanRxFrame& rxframe, const uavcan::CanFrame& frame,
uint64_t timestamp, int iface_index) uint64_t timestamp, int iface_index)
{ {
if (rxframe.frame != frame) if (static_cast<const uavcan::CanFrame&>(rxframe) != frame)
{ {
std::cout << "Frame mismatch:\n" std::cout << "Frame mismatch:\n"
<< " " << rxframe.frame.toString(uavcan::CanFrame::STR_ALIGNED) << "\n" << " " << rxframe.toString(uavcan::CanFrame::STR_ALIGNED) << "\n"
<< " " << frame.toString(uavcan::CanFrame::STR_ALIGNED) << std::endl; << " " << frame.toString(uavcan::CanFrame::STR_ALIGNED) << std::endl;
} }
return (rxframe.frame == frame) && (rxframe.timestamp == timestamp) && (rxframe.iface_index == iface_index); return (static_cast<const uavcan::CanFrame&>(rxframe) == frame) &&
(rxframe.timestamp == timestamp) && (rxframe.iface_index == iface_index);
} }
TEST(CanIOManager, Reception) TEST(CanIOManager, Reception)
libuavcan/test/transport/transfer.cpp
+1 -1
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@@ -145,7 +145,7 @@ TEST(Transfer, RxFrameParseCompile)
ASSERT_FALSE(rx_frame.parse(can_rx_frame)); ASSERT_FALSE(rx_frame.parse(can_rx_frame));
// Default // Default
can_rx_frame.frame.id = CanFrame::FLAG_EFF; can_rx_frame.id = CanFrame::FLAG_EFF;
ASSERT_TRUE(rx_frame.parse(can_rx_frame)); ASSERT_TRUE(rx_frame.parse(can_rx_frame));
ASSERT_EQ(0, rx_frame.timestamp); ASSERT_EQ(0, rx_frame.timestamp);
ASSERT_EQ(0, rx_frame.iface_index); ASSERT_EQ(0, rx_frame.iface_index);