/*
* 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());
}
/*
* MultiFrameIncomingTransfer
*/
MultiFrameIncomingTransfer::MultiFrameIncomingTransfer(MonotonicTime ts_mono, UtcTime ts_utc,
const RxFrame& last_frame, TransferBufferAccessor& tba)
: IncomingTransfer(ts_mono, ts_utc, last_frame.getPriority(), last_frame.getTransferType(),
last_frame.getTransferID(), last_frame.getSrcNodeID(), last_frame.getIfaceIndex())
, buf_acc_(tba)
{
UAVCAN_ASSERT(last_frame.isValid());
UAVCAN_ASSERT(last_frame.isLast());
}
/*
* GlobalTimeSyncMaster
*/
void GlobalTimeSyncMaster::handleLoopbackFrame(const RxFrame& frame)
{
const uint8_t iface = frame.getIfaceIndex();
if (initialized_ && iface < MaxCanIfaces)
{
if (frame.getDataTypeID() == dtid_ &&
frame.getTransferType() == TransferTypeMessageBroadcast &&
frame.isLast() && frame.isFirst() &&
frame.getSrcNodeID() == node_.getNodeID())
{
iface_masters_[iface]->setTxTimestamp(frame.getUtcTimestamp());
}
}
else
{
UAVCAN_ASSERT(0);
}
}
/*
* 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;
}
}
}
TEST(MultiFrameIncomingTransfer, Basic)
{
using uavcan::RxFrame;
using uavcan::MultiFrameIncomingTransfer;
uavcan::PoolManager<1> poolmgr; // We don't need dynamic memory
uavcan::TransferBufferManager<256, 1> bufmgr(poolmgr);
const RxFrame frame = makeFrame();
uavcan::TransferBufferManagerKey bufmgr_key(frame.getSrcNodeID(), frame.getTransferType());
uavcan::TransferBufferAccessor tba(bufmgr, bufmgr_key);
MultiFrameIncomingTransfer it(frame.getMonotonicTimestamp(), frame.getUtcTimestamp(), frame, tba);
/*
* Empty read must fail
*/
uint8_t data_byte = 0;
ASSERT_GT(0, it.read(0, &data_byte, 1)); // Error - no such buffer
/*
* Filling the test data
*/
const std::string data = "123Hello world";
const uint8_t* const data_ptr = reinterpret_cast<const uint8_t*>(data.c_str());
ASSERT_FALSE(bufmgr.access(bufmgr_key));
ASSERT_TRUE(bufmgr.create(bufmgr_key));
ASSERT_EQ(data.length(), bufmgr.access(bufmgr_key)->write(0, data_ptr, data.length()));
/*
* Check
*/
ASSERT_TRUE(match(it, frame, data_ptr, data.length()));
/*
* Buffer release
*/
ASSERT_TRUE(bufmgr.access(bufmgr_key));
it.release();
ASSERT_FALSE(bufmgr.access(bufmgr_key));
}
void TransferListenerBase::handleFrame(const RxFrame& frame)
{
if (frame.getSrcNodeID().isUnicast()) // Normal transfer
{
const TransferBufferManagerKey key(frame.getSrcNodeID(), frame.getTransferType());
TransferReceiver* recv = receivers_.access(key);
if (recv == NULL)
{
if (!frame.isFirst())
{
return;
}
TransferReceiver new_recv;
recv = receivers_.insert(key, new_recv);
if (recv == NULL)
{
UAVCAN_TRACE("TransferListener", "Receiver registration failed; frame %s", frame.toString().c_str());
return;
}
}
TransferBufferAccessor tba(bufmgr_, key);
handleReception(*recv, frame, tba);
}
else if (frame.getSrcNodeID().isBroadcast() &&
frame.isFirst() &&
frame.isLast() &&
frame.getDstNodeID().isBroadcast()) // Anonymous transfer
{
handleAnonymousTransferReception(frame);
}
else
{
UAVCAN_TRACE("TransferListenerBase", "Invalid frame: %s", frame.toString().c_str()); // Invalid frame
}
}