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uc_can_acceptance_filter_configurator.cpp formatting corrections and getNumFilters() extra check

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This commit is contained in:
ilia-sheremet 2015-06-27 17:40:53 +02:00
parent 876ef38097
commit 0ce069fce2
1 changed files with 14 additions and 10 deletions
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24
libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp
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@ -21,7 +21,7 @@ int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration()
CanFilterConfig service_resp_cfg;
service_resp_cfg.id = ServiceRespFrameID;
service_resp_cfg.mask = ServiceRespFrameMask;
if (multiset_configs_.emplace(service_resp_cfg) == NULL)
if (multiset_configs_.emplace(service_resp_cfg) == NULL)
{
return -ErrMemory;
}
@ -34,9 +34,9 @@ int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration()
cfg.id |= static_cast<uint32_t>(p->getDataTypeDescriptor().getKind()) << 8;
cfg.mask = DefaultFilterMsgMask;
if (multiset_configs_.emplace(cfg) == NULL)
{
return -ErrMemory;
}
{
return -ErrMemory;
}
p = p->getNextListNode();
}
@ -48,9 +48,9 @@ int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration()
cfg.id |= static_cast<uint32_t>(p1->getDataTypeDescriptor().getID().get()) << 17;
cfg.mask = DefaultFilterServiceRequestMask;
if (multiset_configs_.emplace(cfg) == NULL)
{
return -ErrMemory;
}
{
return -ErrMemory;
}
p1 = p1->getNextListNode();
}
@ -75,6 +75,11 @@ int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration()
int16_t CanAcceptanceFilterConfigurator::computeConfiguration()
{
const uint16_t acceptance_filters_number = getNumFilters();
if (acceptance_filters_number == 0)
{
UAVCAN_TRACE("CanAcceptanceFilter", "No HW filters available");
return -ErrDriver;
}
UAVCAN_ASSERT(multiset_configs_.getSize() != 0);
while (acceptance_filters_number < multiset_configs_.getSize())
@ -89,7 +94,7 @@ int16_t CanAcceptanceFilterConfigurator::computeConfiguration()
for (uint16_t j_ind = static_cast<uint8_t>(i_ind + 1); j_ind < multiset_array_size; j_ind++)
{
CanFilterConfig temp_config = mergeFilters(*multiset_configs_.getByIndex(i_ind),
*multiset_configs_.getByIndex(j_ind));
*multiset_configs_.getByIndex(j_ind));
uint8_t rank = countBits(temp_config.mask);
if (rank > best_rank)
{
@ -180,7 +185,6 @@ int CanAcceptanceFilterConfigurator::configureFilters()
uint16_t CanAcceptanceFilterConfigurator::getNumFilters() const
{
static const uint16_t InvalidOut = 0xFFFF;
uint16_t out = InvalidOut;
ICanDriver& can_driver = node_.getDispatcher().getCanIOManager().getCanDriver();
@ -205,7 +209,7 @@ uint16_t CanAcceptanceFilterConfigurator::getNumFilters() const
return (out == InvalidOut) ? 0 : out;
}
CanFilterConfig CanAcceptanceFilterConfigurator::mergeFilters(CanFilterConfig &a_, CanFilterConfig &b_)
CanFilterConfig CanAcceptanceFilterConfigurator::mergeFilters(CanFilterConfig& a_, CanFilterConfig& b_)
{
CanFilterConfig temp_arr;
temp_arr.mask = a_.mask & b_.mask & ~(a_.id ^ b_.id);