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Proper priority comparison for CAN frames of different types

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This commit is contained in:
Pavel Kirienko
2014-03-31 00:32:52 +04:00
parent fc4d54ed86
commit d2b3832860
3 changed files with 103 additions and 10 deletions
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libuavcan/include/uavcan/driver/can.hpp
+7 -10
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@@ -61,16 +61,13 @@ struct CanFrame
enum StringRepresentation { StrTight, StrAligned };
std::string toString(StringRepresentation mode = StrTight) const;
// TODO: priority comparison for EXT vs STD frames
bool priorityHigherThan(const CanFrame& rhs) const
{
return (id & CanFrame::MaskExtID) < (rhs.id & CanFrame::MaskExtID);
}
bool priorityLowerThan(const CanFrame& rhs) const
{
return (id & CanFrame::MaskExtID) > (rhs.id & CanFrame::MaskExtID);
}
/**
* CAN frames arbitration rules, particularly STD vs EXT:
* Marco Di Natale - "Understanding and using the Controller Area Network"
* http://www6.in.tum.de/pub/Main/TeachingWs2013MSE/CANbus.pdf
*/
bool priorityHigherThan(const CanFrame& rhs) const;
bool priorityLowerThan(const CanFrame& rhs) const { return rhs.priorityHigherThan(*this); }
};
UAVCAN_PACKED_END