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Linux SOcketCAN driver: strict ordering of received CAN frames; added debug header for tests

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This commit is contained in:
Pavel Kirienko
2014-04-01 02:29:57 +04:00
parent da6e032cf9
commit 0309d13eae
3 changed files with 27 additions and 22 deletions
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libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp
+2 -5
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@@ -113,8 +113,6 @@ class SocketCanIface : public uavcan::ICanIface
RxItem()
: flags(0)
{ }
bool operator<(const RxItem& rhs) const { return frame.priorityLowerThan(rhs.frame); }
};
const SystemClock clock_;
@@ -126,7 +124,7 @@ class SocketCanIface : public uavcan::ICanIface
std::map<SocketCanError, std::uint64_t> errors_;
std::priority_queue<TxItem> tx_queue_; // TODO: Use pool allocator
std::priority_queue<RxItem> rx_queue_; // TODO: Use pool allocator
std::queue<RxItem> rx_queue_; // TODO: Use pool allocator
std::unordered_multiset<std::uint32_t> pending_loopback_ids_; // TODO: Use pool allocator
void registerError(SocketCanError e) { errors_[e]++; }
@@ -340,14 +338,13 @@ public:
}
}
{
const RxItem& rx = rx_queue_.top();
const RxItem& rx = rx_queue_.front();
out_frame = rx.frame;
out_ts_monotonic = rx.ts_mono;
out_ts_utc = rx.ts_utc;
out_flags = rx.flags;
}
rx_queue_.pop();
assert(rx_queue_.empty() ? true : !out_frame.priorityLowerThan(rx_queue_.top().frame)); // Order check
return 1;
}