bool operator==(const Transfer& rhs) const
{
return
(ts_monotonic == rhs.ts_monotonic) &&
((!ts_utc.isZero() && !rhs.ts_utc.isZero()) ? (ts_utc == rhs.ts_utc) : true) &&
(transfer_type == rhs.transfer_type) &&
(transfer_id == rhs.transfer_id) &&
(src_node_id == rhs.src_node_id) &&
((dst_node_id.isValid() && rhs.dst_node_id.isValid()) ? (dst_node_id == rhs.dst_node_id) : true) &&
(data_type == rhs.data_type) &&
(payload == rhs.payload);
}
Transfer makeTransfer(uavcan::TransferPriority priority, uavcan::TransferType transfer_type,
uint8_t source_node_id, const std::string& payload, const uavcan::DataTypeDescriptor& type,
uavcan::NodeID dst_node_id_override = uavcan::NodeID())
{
ts_ += uavcan::MonotonicDuration::fromUSec(100);
const uavcan::UtcTime utc = uavcan::UtcTime::fromUSec(ts_.toUSec() + 1000000000ul);
const uavcan::NodeID dst_node_id = (transfer_type == uavcan::TransferTypeMessageBroadcast) ?
uavcan::NodeID::Broadcast :
(dst_node_id_override.isValid() ? dst_node_id_override : dst_node_id_);
const Transfer tr(ts_, utc, priority, transfer_type, tid_, source_node_id, dst_node_id, payload, type);
tid_.increment();
return tr;
}
