/*
* 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;
}
}
}
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
}
}