Transfer receiver

2026-10-18 07:43:33 +08:00 · 2014-02-10 18:35:58 +04:00
parent 12111e63d4
commit b2adf25485
3 changed files with 579 additions and 0 deletions
@@ -0,0 +1,86 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/internal/transport/transfer.hpp>
+#include <uavcan/internal/transport/transfer_buffer.hpp>
+
+namespace uavcan
+{
+
+class TransferReceiver
+{
+public:
+    enum ResultCode { RESULT_NOT_COMPLETE, RESULT_COMPLETE, RESULT_SINGLE_FRAME };
+
+    static const uint64_t DEFAULT_TRANSFER_INTERVAL = 500 * 1000;
+    static const uint64_t MIN_TRANSFER_INTERVAL     = 1   * 1000;
+    static const uint64_t MAX_TRANSFER_INTERVAL     = 10  * 1000 * 1000;
+
+private:
+    enum TidRelation { TID_SAME, TID_REPEAT, TID_FUTURE };
+    enum { IFACE_INDEX_NOTSET = 0xFF };
+
+    uint64_t prev_transfer_timestamp_;
+    uint64_t this_transfer_timestamp_;
+    uint64_t transfer_interval_;
+    ITransferBufferManager* bufmgr_;
+    TransferID tid_;
+    uint8_t node_id_;
+    uint8_t iface_index_;
+    uint8_t next_frame_index_;
+
+    bool isInitialized() const { return iface_index_ != IFACE_INDEX_NOTSET; }
+
+    TidRelation getTidRelation(const RxFrame& frame) const;
+
+    void updateTransferTimings();
+    void prepareForNextTransfer();
+
+    bool validate(const RxFrame& frame) const;
+    ResultCode receive(const RxFrame& frame);
+
+public:
+    TransferReceiver()
+    : prev_transfer_timestamp_(0)
+    , this_transfer_timestamp_(0)
+    , transfer_interval_(DEFAULT_TRANSFER_INTERVAL)
+    , bufmgr_(NULL)
+    , node_id_(NODE_ID_INVALID)
+    , iface_index_(IFACE_INDEX_NOTSET)
+    , next_frame_index_(0)
+    { }
+
+    TransferReceiver(ITransferBufferManager* bufmgr, uint8_t node_id)
+    : prev_transfer_timestamp_(0)
+    , this_transfer_timestamp_(0)
+    , transfer_interval_(DEFAULT_TRANSFER_INTERVAL)
+    , bufmgr_(bufmgr)
+    , node_id_(node_id)
+    , iface_index_(IFACE_INDEX_NOTSET)
+    , next_frame_index_(0)
+    {
+        assert(bufmgr);
+        assert(node_id <= NODE_ID_MAX);
+        assert(node_id != NODE_ID_INVALID);
+        assert(node_id != NODE_ID_BROADCAST);
+    }
+
+    ~TransferReceiver()
+    {
+        if (bufmgr_ != NULL && node_id_ != NODE_ID_INVALID)
+            bufmgr_->remove(node_id_);
+    }
+
+    bool isTimedOut(uint64_t timestamp) const;
+
+    ResultCode addFrame(const RxFrame& frame);
+
+    uint64_t getLastTransferTimestamp() const { return prev_transfer_timestamp_; }
+
+    uint64_t getInterval() const { return transfer_interval_; }
+};
+
+}