int TransferSender::send(const uint8_t* payload, unsigned payload_len, MonotonicTime tx_deadline,
MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id) const
{
/*
* TODO: TID is not needed for anonymous transfers, this part of the code can be skipped?
*/
const OutgoingTransferRegistryKey otr_key(data_type_id_, transfer_type, dst_node_id);
UAVCAN_ASSERT(!tx_deadline.isZero());
const MonotonicTime otr_deadline = tx_deadline + max(max_transfer_interval_ * 2,
OutgoingTransferRegistry::MinEntryLifetime);
TransferID* const tid = dispatcher_.getOutgoingTransferRegistry().accessOrCreate(otr_key, otr_deadline);
if (tid == UAVCAN_NULLPTR)
{
UAVCAN_TRACE("TransferSender", "OTR access failure, dtid=%d tt=%i",
int(data_type_id_.get()), int(transfer_type));
return -ErrMemory;
}
const TransferID this_tid = tid->get();
tid->increment();
return send(payload, payload_len, tx_deadline, blocking_deadline, transfer_type,
dst_node_id, this_tid);
}
void TransferReceiver::updateTransferTimings()
{
UAVCAN_ASSERT(!this_transfer_ts_.isZero());
const MonotonicTime prev_prev_ts = prev_transfer_ts_;
prev_transfer_ts_ = this_transfer_ts_;
if ((!prev_prev_ts.isZero()) && (!prev_transfer_ts_.isZero()) && (prev_transfer_ts_ >= prev_prev_ts))
{
uint64_t interval_usec = uint64_t((prev_transfer_ts_ - prev_prev_ts).toUSec());
interval_usec = min(interval_usec, uint64_t(MaxTransferIntervalUSec));
interval_usec = max(interval_usec, uint64_t(MinTransferIntervalUSec));
transfer_interval_usec_ = static_cast<uint32_t>((uint64_t(transfer_interval_usec_) * 7 + interval_usec) / 8);
}
}
int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime tx_deadline,
MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id)
{
const OutgoingTransferRegistryKey otr_key(data_type_.getID(), transfer_type, dst_node_id);
assert(!tx_deadline.isZero());
const MonotonicTime otr_deadline = tx_deadline + max_transfer_interval_;
TransferID* const tid = dispatcher_.getOutgoingTransferRegistry().accessOrCreate(otr_key, otr_deadline);
if (tid == NULL)
{
UAVCAN_TRACE("TransferSender", "OTR access failure, dtd=%s tt=%i",
data_type_.toString().c_str(), int(transfer_type));
return -ErrMemory;
}
const TransferID this_tid = tid->get();
tid->increment();
return send(payload, payload_len, tx_deadline, blocking_deadline, transfer_type,
dst_node_id, this_tid);
}