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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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99 lines
2.9 KiB
C++
99 lines
2.9 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#ifndef UAVCAN_TRANSPORT_TRANSFER_RECEIVER_HPP_INCLUDED
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#define UAVCAN_TRANSPORT_TRANSFER_RECEIVER_HPP_INCLUDED
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#include <cstdlib>
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#include <uavcan/build_config.hpp>
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#include <uavcan/transport/frame.hpp>
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#include <uavcan/transport/transfer_buffer.hpp>
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namespace uavcan
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{
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class UAVCAN_EXPORT TransferReceiver
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{
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public:
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enum ResultCode { ResultNotComplete, ResultComplete, ResultSingleFrame };
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static const uint16_t MinTransferIntervalMSec = 1;
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static const uint16_t MaxTransferIntervalMSec = 0xFFFF;
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static const uint16_t DefaultTransferIntervalMSec = 1000;
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static MonotonicDuration getDefaultTransferInterval()
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{
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return MonotonicDuration::fromMSec(DefaultTransferIntervalMSec);
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}
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static MonotonicDuration getMinTransferInterval() { return MonotonicDuration::fromMSec(MinTransferIntervalMSec); }
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static MonotonicDuration getMaxTransferInterval() { return MonotonicDuration::fromMSec(MaxTransferIntervalMSec); }
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private:
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enum TidRelation { TidSame, TidRepeat, TidFuture };
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enum { IfaceIndexNotSet = MaxCanIfaces };
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enum { ErrorCntMask = 31 };
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enum { IfaceIndexMask = MaxCanIfaces };
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MonotonicTime prev_transfer_ts_;
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MonotonicTime this_transfer_ts_;
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UtcTime first_frame_ts_;
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uint16_t transfer_interval_msec_;
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uint16_t this_transfer_crc_;
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uint16_t buffer_write_pos_;
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TransferID tid_; // 1 byte field
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// 1 byte aligned bitfields:
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uint8_t next_toggle_ : 1;
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uint8_t iface_index_ : 2;
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mutable uint8_t error_cnt_ : 5;
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bool isInitialized() const { return iface_index_ != IfaceIndexNotSet; }
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void registerError() const;
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TidRelation getTidRelation(const RxFrame& frame) const;
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void updateTransferTimings();
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void prepareForNextTransfer();
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bool validate(const RxFrame& frame) const;
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bool writePayload(const RxFrame& frame, ITransferBuffer& buf);
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ResultCode receive(const RxFrame& frame, TransferBufferAccessor& tba);
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public:
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TransferReceiver() :
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transfer_interval_msec_(DefaultTransferIntervalMSec),
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this_transfer_crc_(0),
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buffer_write_pos_(0),
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next_toggle_(false),
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iface_index_(IfaceIndexNotSet),
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error_cnt_(0)
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{
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#if UAVCAN_DEBUG
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StaticAssert<sizeof(TransferReceiver) == 32>::check();
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#endif
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}
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bool isTimedOut(MonotonicTime current_ts) const;
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ResultCode addFrame(const RxFrame& frame, TransferBufferAccessor& tba);
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uint8_t yieldErrorCount();
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MonotonicTime getLastTransferTimestampMonotonic() const { return prev_transfer_ts_; }
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UtcTime getLastTransferTimestampUtc() const { return first_frame_ts_; }
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uint16_t getLastTransferCrc() const { return this_transfer_crc_; }
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MonotonicDuration getInterval() const { return MonotonicDuration::fromMSec(transfer_interval_msec_); }
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};
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}
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#endif // UAVCAN_TRANSPORT_TRANSFER_RECEIVER_HPP_INCLUDED
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