void handleIncomingTransfer(uavcan::IncomingTransfer& transfer)
{
const Transfer rx(transfer, Base::getDataTypeDescriptor());
transfers_.push(rx);
std::cout << "Received transfer: " << rx.toString() << std::endl;
const bool single_frame = dynamic_cast<uavcan::SingleFrameIncomingTransfer*>(&transfer) != NULL;
const bool anonymous = single_frame &&
transfer.getSrcNodeID().isBroadcast() &&
(transfer.getTransferType() == uavcan::TransferTypeMessageBroadcast);
ASSERT_EQ(anonymous, transfer.isAnonymousTransfer());
}
Transfer(const uavcan::IncomingTransfer& tr, const uavcan::DataTypeDescriptor& data_type)
: ts_monotonic(tr.getMonotonicTimestamp())
, ts_utc(tr.getUtcTimestamp())
, priority(tr.getPriority())
, transfer_type(tr.getTransferType())
, transfer_id(tr.getTransferID())
, src_node_id(tr.getSrcNodeID())
, dst_node_id() // default is invalid
, data_type(data_type)
{
unsigned offset = 0;
while (true)
{
uint8_t buf[256];
int res = tr.read(offset, buf, sizeof(buf));
if (res < 0)
{
std::cout << "IncomingTransferContainer: read failure " << res << std::endl;
exit(1);
}
if (res == 0)
{
break;
}
payload += std::string(reinterpret_cast<const char*>(buf), unsigned(res));
offset += unsigned(res);
}
}
static bool match(const uavcan::IncomingTransfer& it, const uavcan::RxFrame& frame,
const uint8_t* payload, unsigned payload_len)
{
// Fields extracted from the frame struct
EXPECT_EQ(it.getMonotonicTimestamp(), frame.getMonotonicTimestamp());
EXPECT_EQ(it.getUtcTimestamp(), frame.getUtcTimestamp());
EXPECT_EQ(it.getSrcNodeID(), frame.getSrcNodeID());
EXPECT_EQ(it.getTransferID(), frame.getTransferID());
EXPECT_EQ(it.getTransferType(), frame.getTransferType());
// Payload comparison
static const unsigned BUFLEN = 1024;
uint8_t buf_reference[BUFLEN], buf_actual[BUFLEN];
if (payload_len > BUFLEN)
{
std::cout << "match(): Payload is too long" << std::endl;
exit(1);
}
std::fill(buf_reference, buf_reference + BUFLEN, 0);
std::fill(buf_actual, buf_actual + BUFLEN, 0);
std::copy(payload, payload + payload_len, buf_reference);
EXPECT_EQ(payload_len, it.read(0, buf_actual, payload_len * 3));
EXPECT_EQ(0, it.read(payload_len, buf_actual, payload_len * 3));
return std::equal(buf_reference, buf_reference + BUFLEN, buf_actual);
}
