uc_transfer.cpp

00001 /*
00002  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
00003  */
00004 
00005 #include <uavcan/transport/transfer.hpp>
00006 #include <uavcan/transport/frame.hpp>
00007 #include <uavcan/transport/can_io.hpp>
00008 
00009 namespace uavcan
00010 {
00011 /**
00012  * TransferPriority
00013  */
00014 const uint8_t TransferPriority::BitLen;
00015 const uint8_t TransferPriority::NumericallyMax;
00016 const uint8_t TransferPriority::NumericallyMin;
00017 
00018 const TransferPriority TransferPriority::Default((1U << BitLen) / 2);
00019 const TransferPriority TransferPriority::MiddleLower((1U << BitLen) / 2 + (1U << BitLen) / 4);
00020 const TransferPriority TransferPriority::OneHigherThanLowest(NumericallyMax - 1);
00021 const TransferPriority TransferPriority::OneLowerThanHighest(NumericallyMin + 1);
00022 const TransferPriority TransferPriority::Lowest(NumericallyMax);
00023 
00024 /**
00025  * TransferID
00026  */
00027 const uint8_t TransferID::BitLen;
00028 const uint8_t TransferID::Max;
00029 const uint8_t TransferID::Half;
00030 
00031 /**
00032  * NodeID
00033  */
00034 const uint8_t NodeID::ValueBroadcast;
00035 const uint8_t NodeID::ValueInvalid;
00036 const uint8_t NodeID::BitLen;
00037 const uint8_t NodeID::Max;
00038 const uint8_t NodeID::MaxRecommendedForRegularNodes;
00039 const NodeID NodeID::Broadcast(ValueBroadcast);
00040 
00041 /**
00042  * TransferID
00043  */
00044 int TransferID::computeForwardDistance(TransferID rhs) const
00045 {
00046     int d = int(rhs.get()) - int(get());
00047     if (d < 0)
00048     {
00049         d += 1 << BitLen;
00050     }
00051 
00052     UAVCAN_ASSERT(((get() + d) & Max) == rhs.get());
00053     return d;
00054 }
00055 
00056 }