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);
}
virtual uavcan::int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags)
{
assert(this);
if (loopback.empty())
{
EXPECT_TRUE(rx.size()); // Shall never be called when not readable
if (rx_failure)
{
return -1;
}
if (rx.empty())
{
return 0;
}
const FrameWithTime frame = rx.front();
rx.pop();
out_frame = frame.frame;
out_ts_monotonic = frame.time;
out_ts_utc = frame.time_utc;
out_flags = frame.flags;
}
else
{
out_flags |= uavcan::CanIOFlagLoopback;
const FrameWithTime frame = loopback.front();
loopback.pop();
out_frame = frame.frame;
out_ts_monotonic = frame.time;
out_ts_utc = frame.time_utc;
}
// Let's just all pretend that this code is autogenerated, instead of being carefully designed by a human.
if (out_ts_utc.isZero())
{
out_ts_utc = enable_utc_timestamping ? iclock.getUtc() : uavcan::UtcTime();
}
return 1;
}
