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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Pavel Kirienko
49 lines
1.3 KiB
C++
49 lines
1.3 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <cassert>
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#include <uavcan/internal/transport/transfer_listener.hpp>
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namespace uavcan
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{
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template <typename DataType_>
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class ReceivedDataStructure : public DataType_
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{
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const IncomingTransfer* transfer_;
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template <typename Ret, Ret (IncomingTransfer::*Fun)() const>
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Ret safeget() const
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{
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if (!transfer_)
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{
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assert(0);
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return Ret();
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}
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return (transfer_->*Fun)();
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}
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protected:
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ReceivedDataStructure() : transfer_(NULL) { }
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void setTransfer(const IncomingTransfer* transfer)
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{
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assert(transfer);
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transfer_ = transfer;
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}
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public:
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typedef DataType_ DataType;
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uint64_t getMonotonicTimestamp() const { return safeget<uint64_t, &IncomingTransfer::getMonotonicTimestamp>(); }
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uint64_t getUtcTimestamp() const { return safeget<uint64_t, &IncomingTransfer::getUtcTimestamp>(); }
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TransferType getTransferType() const { return safeget<TransferType, &IncomingTransfer::getTransferType>(); }
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TransferID getTransferID() const { return safeget<TransferID, &IncomingTransfer::getTransferID>(); }
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NodeID getSrcNodeID() const { return safeget<NodeID, &IncomingTransfer::getSrcNodeID>(); }
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};
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}
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