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Refactoring: Frame Index field size increased, Trnasfer ID field size reduced. NodeID class added, Frame class rewritten with stricter runtime checks. All tests were updated accordingly.

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This commit is contained in:
Pavel Kirienko
2014-02-17 12:35:12 +04:00
parent 20778f1acb
commit 697a55aebb
18 changed files with 544 additions and 489 deletions
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libuavcan/src/transport/dispatcher.cpp
+13 -33
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@@ -48,9 +48,9 @@ void Dispatcher::ListenerRegister::handleFrame(const RxFrame& frame)
TransferListenerBase* p = list_.get();
while (p)
{
if (p->getDataTypeDescriptor()->id == frame.data_type_id)
if (p->getDataTypeDescriptor()->id == frame.getDataTypeID())
p->handleFrame(frame);
else if (p->getDataTypeDescriptor()->id < frame.data_type_id) // Listeners are ordered by data type id!
else if (p->getDataTypeDescriptor()->id < frame.getDataTypeID()) // Listeners are ordered by data type id!
break;
p = p->getNextListNode();
}
@@ -68,39 +68,13 @@ void Dispatcher::handleFrame(const CanRxFrame& can_frame)
return;
}
/*
* Target Node ID checking
*/
switch (frame.transfer_type)
if ((frame.getDstNodeID() != NodeID::BROADCAST) &&
(frame.getDstNodeID() != getSelfNodeID()))
{
case TRANSFER_TYPE_MESSAGE_BROADCAST:
// Always accepted
break;
case TRANSFER_TYPE_SERVICE_RESPONSE:
case TRANSFER_TYPE_SERVICE_REQUEST:
case TRANSFER_TYPE_MESSAGE_UNICAST:
/* Here we drop transfer headers that aren't addressed to us. Non-first frames must be accepted in
* any case, because they lack address information in order to reduce payload overhead.
*/
if (frame.frame_index == 0)
{
const uint8_t target_node_id = frame.payload[0];
if (target_node_id != getSelfNodeID())
return;
}
break;
default:
// This means that RxFrame::parse() accepted an invalid frame. Too bad!
assert(0);
return;
}
/*
* Target register selection
*/
switch (frame.transfer_type)
switch (frame.getTransferType())
{
case TRANSFER_TYPE_MESSAGE_BROADCAST:
case TRANSFER_TYPE_MESSAGE_UNICAST:
@@ -143,13 +117,19 @@ int Dispatcher::spin(uint64_t monotonic_deadline)
int Dispatcher::send(const Frame& frame, uint64_t monotonic_tx_deadline, uint64_t monotonic_blocking_deadline,
CanTxQueue::Qos qos)
{
if (frame.source_node_id != getSelfNodeID())
if (frame.getSrcNodeID() != getSelfNodeID())
{
assert(0);
return -1;
}
const CanFrame can_frame = frame.compile();
CanFrame can_frame;
if (!frame.compile(can_frame))
{
UAVCAN_TRACE("Dispatcher", "Unable to send: frame is malformed: %s", frame.toString().c_str());
assert(0);
return -1;
}
const int iface_mask = (1 << canio_.getNumIfaces()) - 1;
return canio_.send(can_frame, monotonic_tx_deadline, monotonic_blocking_deadline, iface_mask, qos);