diff --git a/libuavcan/include/uavcan/internal/transport/transfer.hpp b/libuavcan/include/uavcan/internal/transport/transfer.hpp index 7aa6797826..9674c20b73 100644 --- a/libuavcan/include/uavcan/internal/transport/transfer.hpp +++ b/libuavcan/include/uavcan/internal/transport/transfer.hpp @@ -110,7 +110,7 @@ class Frame public: enum { DATA_TYPE_ID_MAX = 1023 }; - enum { FRAME_INDEX_MAX = 62 }; // 63 (or 0b111111) is reserved + enum { INDEX_MAX = 62 }; // 63 (or 0b111111) is reserved Frame() : transfer_type_(TransferType(NUM_TRANSFER_TYPES)) // That is invalid value @@ -135,7 +135,7 @@ public: assert((transfer_type == TRANSFER_TYPE_MESSAGE_BROADCAST) == dst_node_id.isBroadcast()); assert(data_type_id <= DATA_TYPE_ID_MAX); assert(src_node_id != dst_node_id); - assert(frame_index <= FRAME_INDEX_MAX); + assert(frame_index <= INDEX_MAX); } int getMaxPayloadLen() const; @@ -149,12 +149,12 @@ public: NodeID getSrcNodeID() const { return src_node_id_; } NodeID getDstNodeID() const { return dst_node_id_; } TransferID getTransferID() const { return transfer_id_; } - uint_fast8_t getFrameIndex() const { return frame_index_; } - bool isLastFrame() const { return last_frame_; } + uint_fast8_t getIndex() const { return frame_index_; } + bool isLast() const { return last_frame_; } void makeLast() { last_frame_ = true; } - bool isFirstFrame() const { return frame_index_ == 0; } + bool isFirst() const { return frame_index_ == 0; } bool parse(const CanFrame& can_frame); bool compile(CanFrame& can_frame) const; diff --git a/libuavcan/include/uavcan/internal/transport/transfer_listener.hpp b/libuavcan/include/uavcan/internal/transport/transfer_listener.hpp index d05f798da2..3eff6c5e0b 100644 --- a/libuavcan/include/uavcan/internal/transport/transfer_listener.hpp +++ b/libuavcan/include/uavcan/internal/transport/transfer_listener.hpp @@ -130,7 +130,7 @@ class TransferListener : public TransferListenerBase, Noncopyable TransferReceiver* recv = receivers_.access(key); if (recv == NULL) { - if (!frame.isFirstFrame()) + if (!frame.isFirst()) return; TransferReceiver new_recv; diff --git a/libuavcan/src/transport/transfer.cpp b/libuavcan/src/transport/transfer.cpp index 59dc2cd8a8..978db48206 100644 --- a/libuavcan/src/transport/transfer.cpp +++ b/libuavcan/src/transport/transfer.cpp @@ -168,8 +168,8 @@ bool Frame::isValid() const { // Refer to the specification for the detailed explanation of the checks const bool invalid = - (frame_index_ > FRAME_INDEX_MAX) || - ((frame_index_ == FRAME_INDEX_MAX) && !last_frame_) || + (frame_index_ > INDEX_MAX) || + ((frame_index_ == INDEX_MAX) && !last_frame_) || (!src_node_id_.isUnicast()) || (!dst_node_id_.isValid()) || (src_node_id_ == dst_node_id_) || diff --git a/libuavcan/src/transport/transfer_listener.cpp b/libuavcan/src/transport/transfer_listener.cpp index c332333b8b..e093160081 100644 --- a/libuavcan/src/transport/transfer_listener.cpp +++ b/libuavcan/src/transport/transfer_listener.cpp @@ -48,7 +48,7 @@ MultiFrameIncomingTransfer::MultiFrameIncomingTransfer(uint64_t ts_monotonic, ui , buf_acc_(tba) { assert(last_frame.isValid()); - assert(last_frame.isLastFrame()); + assert(last_frame.isLast()); } int MultiFrameIncomingTransfer::read(unsigned int offset, uint8_t* data, unsigned int len) const diff --git a/libuavcan/src/transport/transfer_receiver.cpp b/libuavcan/src/transport/transfer_receiver.cpp index aff2fc6f77..1605435377 100644 --- a/libuavcan/src/transport/transfer_receiver.cpp +++ b/libuavcan/src/transport/transfer_receiver.cpp @@ -57,19 +57,19 @@ bool TransferReceiver::validate(const RxFrame& frame) const if (iface_index_ != frame.getIfaceIndex()) return false; - if (frame.isFirstFrame() && !frame.isLastFrame() && (frame.getPayloadLen() < CRC_LEN)) + if (frame.isFirst() && !frame.isLast() && (frame.getPayloadLen() < CRC_LEN)) { UAVCAN_TRACE("TransferReceiver", "CRC expected, %s", frame.toString().c_str()); return false; } - if ((frame.getFrameIndex() == Frame::FRAME_INDEX_MAX) && !frame.isLastFrame()) + if ((frame.getIndex() == Frame::INDEX_MAX) && !frame.isLast()) { UAVCAN_TRACE("TransferReceiver", "Unterminated transfer, %s", frame.toString().c_str()); return false; } - if (frame.getFrameIndex() != next_frame_index_) + if (frame.getIndex() != next_frame_index_) { UAVCAN_TRACE("TransferReceiver", "Unexpected frame index (not %i), %s", int(next_frame_index_), frame.toString().c_str()); @@ -89,7 +89,7 @@ bool TransferReceiver::writePayload(const RxFrame& frame, TransferBufferBase& bu const uint8_t* const payload = frame.getPayloadPtr(); const int payload_len = frame.getPayloadLen(); - if (frame.isFirstFrame()) // First frame contains CRC, we need to extract it now + if (frame.isFirst()) // First frame contains CRC, we need to extract it now { if (frame.getPayloadLen() < CRC_LEN) // Must have been validated earlier though. I think I'm paranoid. return false; @@ -116,13 +116,13 @@ bool TransferReceiver::writePayload(const RxFrame& frame, TransferBufferBase& bu TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame, TransferBufferAccessor& tba) { // Transfer timestamps are derived from the first frame - if (frame.isFirstFrame()) + if (frame.isFirst()) { this_transfer_ts_monotonic_ = frame.getMonotonicTimestamp(); first_frame_ts_utc_ = frame.getUtcTimestamp(); } - if (frame.isFirstFrame() && frame.isLastFrame()) + if (frame.isFirst() && frame.isLast()) { tba.remove(); updateTransferTimings(); @@ -150,7 +150,7 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame, Tra } next_frame_index_++; - if (frame.isLastFrame()) + if (frame.isLast()) { updateTransferTimings(); prepareForNextTransfer(); @@ -180,7 +180,7 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, Tr const bool not_initialized = !isInitialized(); const bool receiver_timed_out = isTimedOut(frame.getMonotonicTimestamp()); const bool same_iface = frame.getIfaceIndex() == iface_index_; - const bool first_fame = frame.isFirstFrame(); + const bool first_fame = frame.isFirst(); const TidRelation tid_rel = getTidRelation(frame); const bool iface_timed_out = (frame.getMonotonicTimestamp() - this_transfer_ts_monotonic_) > (uint64_t(transfer_interval_) * 2); diff --git a/libuavcan/test/transport/transfer.cpp b/libuavcan/test/transport/transfer.cpp index d962dc719b..3b68f39d35 100644 --- a/libuavcan/test/transport/transfer.cpp +++ b/libuavcan/test/transport/transfer.cpp @@ -79,8 +79,8 @@ TEST(Transfer, FrameParseCompile) ASSERT_TRUE(frame.parse(makeCanFrame(can_id, payload_string, EXT))); EXPECT_EQ(TransferID(2), frame.getTransferID()); - EXPECT_TRUE(frame.isLastFrame()); - EXPECT_EQ(29, frame.getFrameIndex()); + EXPECT_TRUE(frame.isLast()); + EXPECT_EQ(29, frame.getIndex()); EXPECT_EQ(uavcan::NodeID(42), frame.getSrcNodeID()); EXPECT_EQ(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, frame.getTransferType()); EXPECT_EQ(456, frame.getDataTypeID()); @@ -163,7 +163,7 @@ TEST(Transfer, FrameToString) // RX frame max len rx_frame = RxFrame(Frame(Frame::DATA_TYPE_ID_MAX, uavcan::TRANSFER_TYPE_MESSAGE_UNICAST, - uavcan::NodeID::MAX, uavcan::NodeID::MAX - 1, Frame::FRAME_INDEX_MAX, + uavcan::NodeID::MAX, uavcan::NodeID::MAX - 1, Frame::INDEX_MAX, uavcan::TransferID::MAX, true), 0xFFFFFFFFFFFFFFFF, 0xFFFFFFFFFFFFFFFF, 3); diff --git a/libuavcan/test/transport/transfer_receiver.cpp b/libuavcan/test/transport/transfer_receiver.cpp index 13f40bca59..f9f603e381 100644 --- a/libuavcan/test/transport/transfer_receiver.cpp +++ b/libuavcan/test/transport/transfer_receiver.cpp @@ -254,12 +254,12 @@ TEST(TransferReceiver, UnterminatedTransfer) uavcan::TransferBufferAccessor bk(&context.bufmgr, RxFrameGenerator::DEFAULT_KEY); std::string content; - for (int i = 0; i <= uavcan::Frame::FRAME_INDEX_MAX; i++) + for (int i = 0; i <= uavcan::Frame::INDEX_MAX; i++) { CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", i, false, 0, 1000 + i), bk)); // Last one will be dropped content += "12345678"; } - CHECK_COMPLETE(rcv.addFrame(gen(1, "12345678", uavcan::Frame::FRAME_INDEX_MAX, true, 0, 1100), bk)); + CHECK_COMPLETE(rcv.addFrame(gen(1, "12345678", uavcan::Frame::INDEX_MAX, true, 0, 1100), bk)); ASSERT_EQ(1000, rcv.getLastTransferTimestampMonotonic()); ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), std::string(content, 2))); ASSERT_EQ(0x3231, rcv.getLastTransferCrc()); diff --git a/libuavcan/test/transport/transfer_test_helpers.hpp b/libuavcan/test/transport/transfer_test_helpers.hpp index be71c3e201..9ae62c6f47 100644 --- a/libuavcan/test/transport/transfer_test_helpers.hpp +++ b/libuavcan/test/transport/transfer_test_helpers.hpp @@ -185,14 +185,14 @@ std::vector serializeTransfer(const Transfer& transfer, uavcan: offset += spres; frame_index++; - EXPECT_TRUE(uavcan::Frame::FRAME_INDEX_MAX >= frame_index); + EXPECT_TRUE(uavcan::Frame::INDEX_MAX >= frame_index); const uavcan::RxFrame rxfrm(frm, ts_monotonic, ts_utc, 0); ts_monotonic += 1; ts_utc += 1; output.push_back(rxfrm); - if (frm.isLastFrame()) + if (frm.isLast()) break; } return output;