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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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131 lines
3.6 KiB
C++
131 lines
3.6 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/transport/transfer.hpp>
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#include <uavcan/transport/can_io.hpp>
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#include <uavcan/build_config.hpp>
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#include <uavcan/data_type.hpp>
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namespace uavcan
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{
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class UAVCAN_EXPORT Frame
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{
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uint8_t payload_[sizeof(CanFrame::data)];
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TransferType transfer_type_;
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DataTypeID data_type_id_;
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uint_fast8_t payload_len_;
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NodeID src_node_id_;
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NodeID dst_node_id_;
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uint_fast8_t frame_index_;
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TransferID transfer_id_;
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bool last_frame_;
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public:
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enum { MaxIndex = 62 }; // 63 (or 0b111111) is reserved
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Frame()
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: transfer_type_(TransferType(NumTransferTypes)) // That is invalid value
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, payload_len_(0)
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, frame_index_(0)
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, transfer_id_(0)
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, last_frame_(false)
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{ }
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Frame(DataTypeID data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
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uint_fast8_t frame_index, TransferID transfer_id, bool last_frame = false)
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: transfer_type_(transfer_type)
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, data_type_id_(data_type_id)
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, payload_len_(0)
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, src_node_id_(src_node_id)
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, dst_node_id_(dst_node_id)
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, frame_index_(frame_index)
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, transfer_id_(transfer_id)
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, last_frame_(last_frame)
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{
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UAVCAN_ASSERT((transfer_type == TransferTypeMessageBroadcast) == dst_node_id.isBroadcast());
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UAVCAN_ASSERT(data_type_id.isValid());
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UAVCAN_ASSERT(src_node_id != dst_node_id);
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UAVCAN_ASSERT(frame_index <= MaxIndex);
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}
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/**
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* Max payload length depends on the transfer type and frame index.
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*/
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int getMaxPayloadLen() const;
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int setPayload(const uint8_t* data, unsigned len);
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unsigned getPayloadLen() const { return payload_len_; }
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const uint8_t* getPayloadPtr() const { return payload_; }
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TransferType getTransferType() const { return transfer_type_; }
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DataTypeID getDataTypeID() const { return data_type_id_; }
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NodeID getSrcNodeID() const { return src_node_id_; }
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NodeID getDstNodeID() const { return dst_node_id_; }
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TransferID getTransferID() const { return transfer_id_; }
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uint_fast8_t getIndex() const { return frame_index_; }
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bool isLast() const { return last_frame_; }
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void makeLast() { last_frame_ = true; }
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void setIndex(int index) { frame_index_ = uint_fast8_t(index); }
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bool isFirst() const { return frame_index_ == 0; }
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bool parse(const CanFrame& can_frame);
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bool compile(CanFrame& can_frame) const;
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bool isValid() const;
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bool operator!=(const Frame& rhs) const { return !operator==(rhs); }
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bool operator==(const Frame& rhs) const;
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#if UAVCAN_TOSTRING
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std::string toString() const;
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#endif
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};
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class UAVCAN_EXPORT RxFrame : public Frame
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{
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MonotonicTime ts_mono_;
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UtcTime ts_utc_;
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uint8_t iface_index_;
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public:
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RxFrame()
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: iface_index_(0)
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{ }
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RxFrame(const Frame& frame, MonotonicTime ts_mono, UtcTime ts_utc, uint8_t iface_index)
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: ts_mono_(ts_mono)
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, ts_utc_(ts_utc)
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, iface_index_(iface_index)
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{
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*static_cast<Frame*>(this) = frame;
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}
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bool parse(const CanRxFrame& can_frame);
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/**
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* Can't be zero.
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*/
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MonotonicTime getMonotonicTimestamp() const { return ts_mono_; }
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/**
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* Can be zero if not supported by the platform driver.
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*/
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UtcTime getUtcTimestamp() const { return ts_utc_; }
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uint8_t getIfaceIndex() const { return iface_index_; }
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#if UAVCAN_TOSTRING
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std::string toString() const;
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#endif
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};
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}
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