bool TransferReceiver::writePayload(const RxFrame& frame, ITransferBuffer& buf)
{
const uint8_t* const payload = frame.getPayloadPtr();
const unsigned payload_len = frame.getPayloadLen();
if (frame.isFirst()) // First frame contains CRC, we need to extract it now
{
if (frame.getPayloadLen() < TransferCRC::NumBytes)
{
return false; // Must have been validated earlier though. I think I'm paranoid.
}
this_transfer_crc_ = static_cast<uint16_t>(payload[0] & 0xFF);
this_transfer_crc_ |= static_cast<uint16_t>(static_cast<uint16_t>(payload[1] & 0xFF) << 8); // Little endian.
const unsigned effective_payload_len = payload_len - TransferCRC::NumBytes;
const int res = buf.write(buffer_write_pos_, payload + TransferCRC::NumBytes, effective_payload_len);
const bool success = res == static_cast<int>(effective_payload_len);
if (success)
{
buffer_write_pos_ = static_cast<uint16_t>(buffer_write_pos_ + effective_payload_len);
}
return success;
}
else
{
const int res = buf.write(buffer_write_pos_, payload, payload_len);
const bool success = res == static_cast<int>(payload_len);
if (success)
{
buffer_write_pos_ = static_cast<uint16_t>(buffer_write_pos_ + payload_len);
}
return success;
}
}
bool TransferReceiver::validate(const RxFrame& frame) const
{
if (iface_index_ != frame.getIfaceIndex())
{
return false;
}
if (frame.isFirst() && !frame.isLast() && (frame.getPayloadLen() < TransferCRC::NumBytes))
{
UAVCAN_TRACE("TransferReceiver", "CRC expected, %s", frame.toString().c_str());
registerError();
return false;
}
if ((frame.getIndex() == Frame::MaxIndex) && !frame.isLast())
{
UAVCAN_TRACE("TransferReceiver", "Unterminated transfer, %s", frame.toString().c_str());
registerError();
return false;
}
if (frame.getIndex() != next_frame_index_)
{
UAVCAN_TRACE("TransferReceiver", "Unexpected frame index (not %i), %s",
int(next_frame_index_), frame.toString().c_str());
registerError();
return false;
}
if (getTidRelation(frame) != TidSame)
{
UAVCAN_TRACE("TransferReceiver", "Unexpected TID (current %i), %s", tid_.get(), frame.toString().c_str());
registerError();
return false;
}
return true;
}
/*
* SingleFrameIncomingTransfer
*/
SingleFrameIncomingTransfer::SingleFrameIncomingTransfer(const RxFrame& frm)
: IncomingTransfer(frm.getMonotonicTimestamp(), frm.getUtcTimestamp(), frm.getPriority(),
frm.getTransferType(), frm.getTransferID(), frm.getSrcNodeID(), frm.getIfaceIndex())
, payload_(frm.getPayloadPtr())
, payload_len_(uint8_t(frm.getPayloadLen()))
{
UAVCAN_ASSERT(frm.isValid());
}
TEST(SingleFrameIncomingTransfer, Basic)
{
using uavcan::RxFrame;
using uavcan::SingleFrameIncomingTransfer;
const RxFrame frame = makeFrame();
SingleFrameIncomingTransfer it(frame);
ASSERT_TRUE(match(it, frame, frame.getPayloadPtr(), frame.getPayloadLen()));
}