TransferSender implementation and tests

libuavcan/include/uavcan/internal/transport/transfer_sender.hpp

@@ -0,0 +1,55 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <cstdlib>
+#include <cassert>
+#include <uavcan/internal/data_type.hpp>
+#include <uavcan/internal/transport/crc.hpp>
+#include <uavcan/internal/transport/transfer.hpp>
+#include <uavcan/internal/transport/dispatcher.hpp>
+#include <uavcan/internal/transport/transfer_buffer.hpp>
+
+namespace uavcan
+{
+
+class TransferSender
+{
+    static const uint64_t DEFAULT_MAX_TRANSFER_INTERVAL = 60 * 1000 * 1000;
+
+    const uint64_t max_transfer_interval_;
+    const DataTypeDescriptor& data_type_;
+    const CanTxQueue::Qos qos_;
+    const Crc16 crc_base_;
+
+    Dispatcher& dispatcher_;
+
+public:
+    TransferSender(Dispatcher& dispatcher, const DataTypeDescriptor& data_type, CanTxQueue::Qos qos,
+                   uint64_t max_transfer_interval = DEFAULT_MAX_TRANSFER_INTERVAL)
+    : max_transfer_interval_(max_transfer_interval)
+    , data_type_(data_type)
+    , qos_(qos)
+    , crc_base_(data_type.hash.value, DataTypeHash::NUM_BYTES)
+    , dispatcher_(dispatcher)
+    { }
+
+    /**
+     * Send with explicit Transfer ID.
+     * Should be used only for service responses, where response TID should match request TID.
+     */
+    int send(const uint8_t* payload, int payload_len, uint64_t monotonic_tx_deadline,
+             uint64_t monotonic_blocking_deadline, TransferType transfer_type, NodeID dst_node_id,
+             TransferID tid);
+
+    /**
+     * Send with automatic Transfer ID.
+     * TID is managed by OutgoingTransferRegistry.
+     */
+    int send(const uint8_t* payload, int payload_len, uint64_t monotonic_tx_deadline,
+             uint64_t monotonic_blocking_deadline, TransferType transfer_type, NodeID dst_node_id);
+};
+
+}