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TransferReceiver optimization

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This commit is contained in:
Pavel Kirienko
2015-06-20 22:39:39 +03:00
parent cb7f1ef460
commit 815337ab1f
3 changed files with 69 additions and 49 deletions
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libuavcan/include/uavcan/transport/transfer_receiver.hpp
+36 -22
View File
@@ -19,31 +19,41 @@ class UAVCAN_EXPORT TransferReceiver
public:
enum ResultCode { ResultNotComplete, ResultComplete, ResultSingleFrame };
static const uint32_t MinTransferIntervalUSec = 1 * 1000UL;
static const uint32_t MaxTransferIntervalUSec = 10 * 1000 * 1000UL;
static const uint32_t DefaultTransferIntervalUSec = 1 * 1000 * 1000UL;
static const uint16_t MinTransferIntervalMSec = 1;
static const uint16_t MaxTransferIntervalMSec = 0xFFFF;
static const uint16_t DefaultTransferIntervalMSec = 1000;
static MonotonicDuration getDefaultTransferInterval()
{
return MonotonicDuration::fromUSec(DefaultTransferIntervalUSec);
return MonotonicDuration::fromMSec(DefaultTransferIntervalMSec);
}
static MonotonicDuration getMinTransferInterval() { return MonotonicDuration::fromUSec(MinTransferIntervalUSec); }
static MonotonicDuration getMaxTransferInterval() { return MonotonicDuration::fromUSec(MaxTransferIntervalUSec); }
static MonotonicDuration getMinTransferInterval() { return MonotonicDuration::fromMSec(MinTransferIntervalMSec); }
static MonotonicDuration getMaxTransferInterval() { return MonotonicDuration::fromMSec(MaxTransferIntervalMSec); }
private:
enum TidRelation { TidSame, TidRepeat, TidFuture };
static const uint8_t IfaceIndexNotSet = 0xFF;
enum { IfaceIndexNotSet = MaxCanIfaces };
enum { BufferWritePosMask = 4095 };
enum { ErrorCntMask = 15 };
enum { IfaceIndexMask = MaxCanIfaces };
MonotonicTime prev_transfer_ts_;
MonotonicTime this_transfer_ts_;
UtcTime first_frame_ts_;
uint32_t transfer_interval_usec_;
uint16_t transfer_interval_msec_;
uint16_t this_transfer_crc_;
uint16_t buffer_write_pos_;
TransferID tid_;
uint8_t iface_index_;
uint8_t next_frame_index_;
mutable uint8_t error_cnt_;
// 2 byte aligned bitfields:
uint16_t buffer_write_pos_ : 12;
mutable uint16_t error_cnt_ : 4;
TransferID tid_; // 1 byte field
// 1 byte aligned bitfields:
uint8_t next_frame_index_ : 6;
uint8_t iface_index_ : 2;
bool isInitialized() const { return iface_index_ != IfaceIndexNotSet; }
@@ -59,14 +69,18 @@ private:
ResultCode receive(const RxFrame& frame, TransferBufferAccessor& tba);
public:
TransferReceiver()
: transfer_interval_usec_(DefaultTransferIntervalUSec)
, this_transfer_crc_(0)
, buffer_write_pos_(0)
, iface_index_(IfaceIndexNotSet)
, next_frame_index_(0)
, error_cnt_(0)
{ }
TransferReceiver() :
transfer_interval_msec_(DefaultTransferIntervalMSec),
this_transfer_crc_(0),
buffer_write_pos_(0),
error_cnt_(0),
next_frame_index_(0),
iface_index_(IfaceIndexNotSet)
{
#if UAVCAN_DEBUG
StaticAssert<sizeof(TransferReceiver) == 32>::check();
#endif
}
bool isTimedOut(MonotonicTime current_ts) const;
@@ -79,7 +93,7 @@ public:
uint16_t getLastTransferCrc() const { return this_transfer_crc_; }
MonotonicDuration getInterval() const { return MonotonicDuration::fromUSec(transfer_interval_usec_); }
MonotonicDuration getInterval() const { return MonotonicDuration::fromMSec(transfer_interval_msec_); }
};
UAVCAN_PACKED_END