static inline void emulateSingleFrameBroadcastTransfer(CanDriver& can, uavcan::NodeID node_id,
const MessageType& message, uavcan::TransferID tid)
{
uavcan::StaticTransferBuffer<100> buffer;
uavcan::BitStream bitstream(buffer);
uavcan::ScalarCodec codec(bitstream);
// Manual message publication
ASSERT_LT(0, MessageType::encode(message, codec));
ASSERT_GE(8, buffer.getMaxWritePos());
// DataTypeID data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
// uint_fast8_t frame_index, TransferID transfer_id, bool last_frame
uavcan::Frame frame(MessageType::DefaultDataTypeID, uavcan::TransferTypeMessageBroadcast,
node_id, uavcan::NodeID::Broadcast, tid);
frame.setStartOfTransfer(true);
frame.setEndOfTransfer(true);
ASSERT_EQ(buffer.getMaxWritePos(), frame.setPayload(buffer.getRawPtr(), buffer.getMaxWritePos()));
uavcan::CanFrame can_frame;
ASSERT_TRUE(frame.compile(can_frame));
can.pushRxToAllIfaces(can_frame);
}
int init(DelayCallable delay_callable, uavcan::uint32_t& inout_bitrate = BitRateAutoDetect)
{
if (inout_bitrate > 0)
{
return driver.init(inout_bitrate, CanIface::NormalMode);
}
else
{
static const uavcan::uint32_t StandardBitRates[] =
{
1000000,
500000,
250000,
125000
};
for (uavcan::uint8_t br = 0; br < sizeof(StandardBitRates) / sizeof(StandardBitRates[0]); br++)
{
inout_bitrate = StandardBitRates[br];
const int res = driver.init(inout_bitrate, CanIface::SilentMode);
delay_callable();
if (res >= 0)
{
for (uavcan::uint8_t iface = 0; iface < driver.getNumIfaces(); iface++)
{
if (!driver.getIface(iface)->isRxBufferEmpty())
{
// Re-initializing in normal mode
return driver.init(inout_bitrate, CanIface::NormalMode);
}
}
}
}
return -ErrBitRateNotDetected;
}
}
/**
* This overload simply configures the provided bitrate.
* Auto bit rate detection will not be performed.
* Bitrate value must be positive.
* @return Negative value on error; non-negative on success. Refer to constants Err*.
*/
int init(uavcan::uint32_t bitrate)
{
return driver.init(bitrate, CanIface::NormalMode);
}
int init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode, uavcan::uint8_t can_number)
{
return driver.init(bitrate, mode, can_number);
}
int init(uavcan::uint32_t bitrate)
{
return driver.init(bitrate);
}