fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 19:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

TransferBufferManager: using TransferBufferManagerKey instead of plain Node ID, this allows to distinguish transfers of different type from the same Node ID, which is necessary for message broadcasting/unicasting

Browse Source
This commit is contained in:
Pavel Kirienko
2014-02-11 12:21:25 +04:00
parent 149ac87a54
commit 78ff31f9ad
6 changed files with 150 additions and 90 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/src/transport/transfer_buffer.cpp
+12
View File
@@ -4,10 +4,22 @@
#include <cassert>
#include <cstdlib>
#include <cstdio>
#include <string>
#include <uavcan/internal/transport/transfer_buffer.hpp>
namespace uavcan
{
/*
* TransferBufferManagerKey
*/
std::string TransferBufferManagerKey::toString() const
{
char buf[24];
std::snprintf(buf, sizeof(buf), "nid:%i tt:%i", int(node_id_), int(transfer_type_));
return std::string(buf);
}
/*
* DynamicTransferBuffer::Block
*/
libuavcan/src/transport/transfer_receiver.cpp
+9 -8
View File
@@ -18,8 +18,8 @@ const uint64_t TransferReceiver::MAX_TRANSFER_INTERVAL;
void TransferReceiver::cleanup()
{
if (bufmgr_ != NULL && node_id_ != NODE_ID_INVALID)
bufmgr_->remove(node_id_);
if (bufmgr_ != NULL && !bufmgr_key_.isEmpty())
bufmgr_->remove(bufmgr_key_);
}
TransferReceiver::TidRelation TransferReceiver::getTidRelation(const RxFrame& frame) const
@@ -99,15 +99,15 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame)
if ((frame.frame_index == 0) && frame.last_frame) // Single-frame transfer
{
bufmgr_->remove(node_id_);
bufmgr_->remove(bufmgr_key_);
updateTransferTimings();
prepareForNextTransfer();
return RESULT_SINGLE_FRAME;
}
TransferBufferBase* buf = bufmgr_->access(node_id_);
TransferBufferBase* buf = bufmgr_->access(bufmgr_key_);
if (buf == NULL)
buf = bufmgr_->create(node_id_);
buf = bufmgr_->create(bufmgr_key_);
if (buf == NULL)
{
UAVCAN_TRACE("TransferReceiver", "Failed to access the buffer, %s", frame.toString().c_str());
@@ -119,7 +119,7 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame)
if (res != frame.payload_len)
{
UAVCAN_TRACE("TransferReceiver", "Buffer write failure [%i], %s", res, frame.toString().c_str());
bufmgr_->remove(node_id_);
bufmgr_->remove(bufmgr_key_);
prepareForNextTransfer();
return RESULT_NOT_COMPLETE;
}
@@ -146,7 +146,8 @@ bool TransferReceiver::isTimedOut(uint64_t timestamp) const
TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame)
{
assert(bufmgr_);
assert(node_id_ == frame.source_node_id);
assert(bufmgr_key_.getNodeID() == frame.source_node_id);
assert(bufmgr_key_.getTransferType() == frame.transfer_type);
if ((frame.timestamp == 0) ||
(frame.timestamp < prev_transfer_timestamp_) ||
@@ -174,7 +175,7 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame)
"Restart [not_inited=%i, iface_timeout=%i, recv_timeout=%i, same_iface=%i, first_frame=%i, tid_rel=%i], %s",
int(not_initialized), int(iface_timed_out), int(receiver_timed_out), int(same_iface), int(first_fame),
int(tid_rel), frame.toString().c_str());
bufmgr_->remove(node_id_);
bufmgr_->remove(bufmgr_key_);
iface_index_ = frame.iface_index;
tid_ = frame.transfer_id;
next_frame_index_ = 0;