void Dispatcher::handleLoopbackFrame(const CanRxFrame& can_frame)
{
RxFrame frame;
if (!frame.parse(can_frame))
{
UAVCAN_TRACE("Dispatcher", "Invalid loopback CAN frame: %s", can_frame.toString().c_str());
UAVCAN_ASSERT(0); // No way!
return;
}
UAVCAN_ASSERT(frame.getSrcNodeID() == getNodeID());
loopback_listeners_.invokeListeners(frame);
}
/*
* Dispatcher
*/
void Dispatcher::handleFrame(const CanRxFrame& can_frame)
{
RxFrame frame;
if (!frame.parse(can_frame))
{
// This is not counted as a transport error
UAVCAN_TRACE("Dispatcher", "Invalid CAN frame received: %s", can_frame.toString().c_str());
return;
}
if ((frame.getDstNodeID() != NodeID::Broadcast) &&
(frame.getDstNodeID() != getNodeID()))
{
return;
}
switch (frame.getTransferType())
{
case TransferTypeMessageBroadcast:
case TransferTypeMessageUnicast:
{
lmsg_.handleFrame(frame);
break;
}
case TransferTypeServiceRequest:
{
lsrv_req_.handleFrame(frame);
break;
}
case TransferTypeServiceResponse:
{
lsrv_resp_.handleFrame(frame);
break;
}
default:
{
UAVCAN_ASSERT(0);
break;
}
}
}