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Simplified Frame::parse()

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This commit is contained in:
Pavel Kirienko
2014-02-17 12:43:47 +04:00
parent 697a55aebb
commit 9d06a328dc
1 changed files with 2 additions and 17 deletions
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libuavcan/src/transport/transfer.cpp
+2 -17
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@@ -89,18 +89,6 @@ bool Frame::parse(const CanFrame& can_frame)
transfer_type_ = TransferType(bitunpack<17, 2>(id));
data_type_id_ = bitunpack<19, 10>(id);
/*
* Validation
*/
if (frame_index_ > FRAME_INDEX_MAX)
return false;
if ((frame_index_ == FRAME_INDEX_MAX) && !last_frame_) // Unterminated transfer
return false;
if (!src_node_id_.isUnicast())
return false;
/*
* CAN payload parsing
*/
@@ -119,11 +107,7 @@ bool Frame::parse(const CanFrame& can_frame)
return false;
if (can_frame.data[0] & 0x80) // RESERVED, must be zero
return false;
dst_node_id_ = can_frame.data[0] & 0x7F;
if (!dst_node_id_.isUnicast() || (dst_node_id_ == src_node_id_))
return false;
payload_len_ = can_frame.dlc - 1;
std::copy(can_frame.data + 1, can_frame.data + can_frame.dlc, payload_);
break;
@@ -131,7 +115,8 @@ bool Frame::parse(const CanFrame& can_frame)
default:
return false;
}
return true;
return isValid();
}
template <int OFFSET, int WIDTH>