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Passing all tests now

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This commit is contained in:
Pavel Kirienko
2015-04-30 10:55:52 +03:00
parent 2843c0a35e
commit b8c5613522
6 changed files with 305 additions and 63 deletions
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libuavcan/src/transport/uc_frame.cpp
+13 -3
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@@ -114,8 +114,8 @@ bool Frame::parse(const CanFrame& can_frame)
* CAN ID parsing
*/
const uint32_t id = can_frame.id & CanFrame::MaskExtID;
transfer_id_ = uint8_t(bitunpack<0, 3>(id));
last_frame_ = bitunpack<3, 1>(id) != 0;
transfer_id_ = uint8_t(bitunpack<0, 3>(id));
last_frame_ = bitunpack<3, 1>(id) != 0;
// TT-specific fields skipped
transfer_priority_ = TransferPriority(bitunpack<27, 2>(id));
@@ -283,7 +283,7 @@ bool Frame::compile(CanFrame& out_can_frame) const
{
sum = static_cast<uint8_t>(sum + payload_[i]);
}
out_can_frame.id &= ~bitpack<0, 8>(sum); // Setting the checksum
out_can_frame.id |= bitpack<0, 8>(sum); // Setting the checksum
}
return true;
@@ -296,11 +296,13 @@ bool Frame::isValid() const
*/
if (frame_index_ > getMaxIndex())
{
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
return false;
}
if ((frame_index_ == getMaxIndex()) && !last_frame_)
{
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
return false;
}
@@ -310,12 +312,14 @@ bool Frame::isValid() const
if (!src_node_id_.isValid() ||
!dst_node_id_.isValid())
{
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
return false;
}
if (src_node_id_.isUnicast() &&
(src_node_id_ == dst_node_id_))
{
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
return false;
}
@@ -324,11 +328,13 @@ bool Frame::isValid() const
*/
if (transfer_type_ >= NumTransferTypes)
{
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
return false;
}
if ((transfer_type_ == TransferTypeMessageBroadcast) != dst_node_id_.isBroadcast())
{
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
return false;
}
@@ -344,6 +350,7 @@ bool Frame::isValid() const
*/
if (static_cast<int>(payload_len_) > getMaxPayloadLen())
{
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
return false;
}
@@ -352,6 +359,7 @@ bool Frame::isValid() const
*/
if (!data_type_id_.isValidForDataTypeKind(getDataTypeKindForTransferType(transfer_type_)))
{
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
return false;
}
@@ -360,6 +368,7 @@ bool Frame::isValid() const
*/
if (transfer_priority_ >= NumTransferPriorities)
{
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
return false;
}
@@ -368,6 +377,7 @@ bool Frame::isValid() const
{
if (transfer_priority_ != TransferPriorityService)
{
UAVCAN_TRACE("Frame", "Validness check failed at line %d", __LINE__);
return false;
}
}