TransferSender implementation and tests

2026-10-22 23:03:35 +08:00 · 2014-02-19 17:05:19 +04:00
parent bb9d21287e
commit cd851312ff
4 changed files with 308 additions and 0 deletions
@@ -0,0 +1,109 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <cassert>
+#include <uavcan/internal/debug.hpp>
+#include <uavcan/internal/transport/transfer_sender.hpp>
+
+
+namespace uavcan
+{
+
+int TransferSender::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)
+{
+    Frame frame(data_type_.id, transfer_type, dispatcher_.getSelfNodeID(), dst_node_id, 0, tid);
+
+    if (frame.getMaxPayloadLen() >= payload_len)           // Single Frame Transfer
+    {
+        const int res = frame.setPayload(payload, payload_len);
+        if (res != payload_len)
+        {
+            assert(0);
+            UAVCAN_TRACE("TransferSender", "Frame payload write failure, %i", res);
+            return (res < 0) ? res : -1;
+        }
+        frame.makeLast();
+        assert(frame.isLast() && frame.isFirst());
+        return dispatcher_.send(frame, monotonic_tx_deadline, monotonic_blocking_deadline, qos_);
+    }
+    else                                                   // Multi Frame Transfer
+    {
+        int offset = 0;
+        {
+            Crc16 crc = crc_base_;
+            crc.add(payload, payload_len);
+
+            static const int BUFLEN = sizeof(CanFrame::data);
+            uint8_t buf[BUFLEN];
+
+            buf[0] = crc.get() & 0xFF;       // Transfer CRC, little endian
+            buf[1] = (crc.get() >> 8) & 0xFF;
+            std::copy(payload, payload + BUFLEN - 2, buf + 2);
+
+            const int write_res = frame.setPayload(buf, BUFLEN);
+            if (write_res < 2)
+            {
+                UAVCAN_TRACE("TransferSender", "Frame payload write failure, %i", write_res);
+                return write_res;
+            }
+            offset = write_res - 2;
+            assert(payload_len > offset);
+        }
+
+        int next_frame_index = 1;
+
+        while (true)
+        {
+            const int send_res = dispatcher_.send(frame, monotonic_tx_deadline, monotonic_blocking_deadline, qos_);
+            if (send_res < 0)
+                return send_res;
+
+            if (frame.isLast())
+                return next_frame_index;  // Number of frames transmitted
+
+            frame.setIndex(next_frame_index++);
+
+            const int write_res = frame.setPayload(payload + offset, payload_len - offset);
+            if (write_res < 0)
+            {
+                UAVCAN_TRACE("TransferSender", "Frame payload write failure, %i", write_res);
+                return write_res;
+            }
+
+            offset += write_res;
+            assert(offset <= payload_len);
+            if (offset >= payload_len)
+                frame.makeLast();
+        }
+    }
+
+    assert(0);
+    return -1; // Return path analysis is apparently broken. There should be no warning, this 'return' is unreachable.
+}
+
+int TransferSender::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)
+{
+    const OutgoingTransferRegistryKey otr_key(data_type_.id, transfer_type, dst_node_id);
+
+    assert(monotonic_tx_deadline > 0);
+    const uint64_t otr_deadline = monotonic_tx_deadline + max_transfer_interval_;
+
+    TransferID* const tid = dispatcher_.getOutgoingTransferRegistry()->accessOrCreate(otr_key, otr_deadline);
+    if (tid == NULL)
+    {
+        UAVCAN_TRACE("TransferSender", "OTR access failure, dtid=%i tt=%i", int(data_type_.id), int(transfer_type));
+        return -1;
+    }
+
+    const TransferID this_tid = tid->get();
+    tid->increment();
+
+    return send(payload, payload_len, monotonic_tx_deadline, monotonic_blocking_deadline, transfer_type,
+                dst_node_id, this_tid);
+}
+
+}