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Frame parse()/compile(), some renamings

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This commit is contained in:
Pavel Kirienko
2014-02-02 22:54:27 +04:00
parent 4bf2b2e81a
commit 8794c7eab9
9 changed files with 226 additions and 38 deletions
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libuavcan/include/uavcan/internal/transport/can_io.hpp
+5
View File
@@ -20,6 +20,11 @@ struct CanRxFrame
CanFrame frame;
uint64_t timestamp;
uint8_t iface_index;
CanRxFrame()
: timestamp(0)
, iface_index(0)
{ }
};
libuavcan/include/uavcan/internal/transport/transfer.hpp
+33 -11
View File
@@ -22,7 +22,7 @@ enum TransferType
class TransferID
{
uint_fast8_t value_;
uint8_t value_;
public:
enum { BITLEN = 4 };
@@ -32,7 +32,7 @@ public:
: value_(0)
{ }
TransferID(uint_fast8_t value) // implicit
TransferID(uint8_t value) // implicit
: value_(value)
{
value_ &= MAX;
@@ -47,7 +47,7 @@ public:
value_ = (value_ + 1) & MAX;
}
uint_fast8_t get() const
uint8_t get() const
{
assert(value_ <= MAX);
return value_;
@@ -62,6 +62,10 @@ public:
struct Frame
{
enum { DATA_TYPE_ID_MAX = 1023 };
enum { NODE_ID_MAX = 127 };
enum { FRAME_INDEX_MAX = 31 };
uint8_t payload[8];
TransferType transfer_type;
uint_fast16_t data_type_id;
@@ -71,6 +75,18 @@ struct Frame
TransferID transfer_id;
bool last_frame;
Frame()
: transfer_type(TransferType(0))
, data_type_id(0)
, payload_len(0)
, source_node_id(0)
, frame_index(0)
, transfer_id(0)
, last_frame(false)
{
std::fill(payload, payload + sizeof(payload), 0);
}
Frame(const uint8_t* payload, uint_fast8_t payload_len, uint_fast16_t data_type_id, TransferType transfer_type,
uint_fast8_t source_node_id, uint_fast8_t frame_index, TransferID transfer_id, bool last_frame)
: transfer_type(transfer_type)
@@ -81,11 +97,14 @@ struct Frame
, transfer_id(transfer_id)
, last_frame(last_frame)
{
assert(payload && payload_len <= 8);
assert(data_type_id <= DATA_TYPE_ID_MAX);
assert(source_node_id <= NODE_ID_MAX);
assert(frame_index <= FRAME_INDEX_MAX);
assert(payload && payload_len <= sizeof(payload));
std::copy(payload, payload + payload_len, this->payload);
}
static Frame parse(const CanFrame& can_frame);
bool parse(const CanFrame& can_frame);
CanFrame compile() const;
@@ -111,15 +130,18 @@ struct RxFrame
Frame frame;
uint_fast8_t iface_index;
RxFrame(const Frame& frame, uint_fast64_t timestamp, uint_fast8_t iface_index)
: timestamp(timestamp)
, frame(frame)
, iface_index(iface_index)
RxFrame()
: timestamp(0)
, iface_index(0)
{ }
static RxFrame parse(const CanRxFrame& can_frame)
bool parse(const CanRxFrame& can_frame)
{
return RxFrame(Frame::parse(can_frame.frame), can_frame.timestamp, can_frame.iface_index);
if (!frame.parse(can_frame.frame))
return false;
timestamp = can_frame.timestamp;
iface_index = can_frame.iface_index;
return true;
}
};