transfer_sender.hpp

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/*
 * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#ifndef UAVCAN_TRANSPORT_TRANSFER_SENDER_HPP_INCLUDED
#define UAVCAN_TRANSPORT_TRANSFER_SENDER_HPP_INCLUDED

#include <cstdlib>
#include <cassert>
#include <uavcan/build_config.hpp>
#include <uavcan/error.hpp>
#include <uavcan/data_type.hpp>
#include <uavcan/transport/crc.hpp>
#include <uavcan/transport/transfer.hpp>
#include <uavcan/transport/dispatcher.hpp>

namespace uavcan
{

class UAVCAN_EXPORT TransferSender
{
    const MonotonicDuration max_transfer_interval_;

    Dispatcher& dispatcher_;

    TransferPriority priority_;
    TransferCRC crc_base_;
    DataTypeID data_type_id_;
    CanIOFlags flags_;
    uint8_t iface_mask_;
    bool allow_anonymous_transfers_;

    void registerError() const;

public:
    enum { AllIfacesMask = 0xFF };

    static MonotonicDuration getDefaultMaxTransferInterval()
    {
        return MonotonicDuration::fromMSec(60 * 1000);
    }

    TransferSender(Dispatcher& dispatcher, const DataTypeDescriptor& data_type,
                   MonotonicDuration max_transfer_interval = getDefaultMaxTransferInterval())
        : max_transfer_interval_(max_transfer_interval)
        , dispatcher_(dispatcher)
        , priority_(TransferPriority::Default)
        , flags_(CanIOFlags(0))
        , iface_mask_(AllIfacesMask)
        , allow_anonymous_transfers_(false)
    {
        init(data_type);
    }

    TransferSender(Dispatcher& dispatcher, MonotonicDuration max_transfer_interval = getDefaultMaxTransferInterval())
        : max_transfer_interval_(max_transfer_interval)
        , dispatcher_(dispatcher)
        , priority_(TransferPriority::Default)
        , flags_(CanIOFlags(0))
        , iface_mask_(AllIfacesMask)
        , allow_anonymous_transfers_(false)
    { }

    void init(const DataTypeDescriptor& dtid);

    bool isInitialized() const { return data_type_id_ != DataTypeID(); }

    CanIOFlags getCanIOFlags() const { return flags_; }
    void setCanIOFlags(CanIOFlags flags) { flags_ = flags; }

    uint8_t getIfaceMask() const { return iface_mask_; }
    void setIfaceMask(uint8_t iface_mask)
    {
        UAVCAN_ASSERT(iface_mask);
        iface_mask_ = iface_mask;
    }

    TransferPriority getPriority() const { return priority_; }
    void setPriority(TransferPriority prio) { priority_ = prio; }

    void allowAnonymousTransfers() { allow_anonymous_transfers_ = true; }

    int send(const uint8_t* payload, unsigned payload_len, MonotonicTime tx_deadline,
             MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id,
             TransferID tid) const;

    int send(const uint8_t* payload, unsigned payload_len, MonotonicTime tx_deadline,
             MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id) const;
};

}

#endif // UAVCAN_TRANSPORT_TRANSFER_SENDER_HPP_INCLUDED