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pull request corrections

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Ilia
2015-12-20 22:53:19 +00:00
parent c5a340719f
commit 292b06c2d8
3 changed files with 71 additions and 79 deletions
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libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp
+36 -37
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@@ -148,8 +148,7 @@ class SocketCanIface : public uavcan::ICanIface
std::queue<RxItem> rx_queue_; // TODO: Use pool allocator
std::unordered_multiset<std::uint32_t> pending_loopback_ids_; // TODO: Use pool allocator
std::vector<uavcan::CanFilterConfig> hw_filters_container_;
bool filters_configured_ = false;
std::vector<::can_filter> hw_filters_container_;
void registerError(SocketCanError e) { errors_[e]++; }
@@ -228,6 +227,16 @@ class SocketCanIface : public uavcan::ICanIface
{
return (res < 0 && errno == EWOULDBLOCK) ? 0 : res;
}
/*
* Flags
*/
loopback = (msg.msg_flags & static_cast<int>(MSG_CONFIRM)) != 0;
if (!checkHWFilters(sockcan_frame) && !loopback)
{
return 0;
}
frame = makeUavcanFrame(sockcan_frame);
/*
* Timestamp
@@ -246,10 +255,6 @@ class SocketCanIface : public uavcan::ICanIface
assert(0);
return -1;
}
/*
* Flags
*/
loopback = (msg.msg_flags & static_cast<int>(MSG_CONFIRM)) != 0;
return 1;
}
@@ -304,17 +309,8 @@ class SocketCanIface : public uavcan::ICanIface
if (accept)
{
rx.ts_utc += clock_.getPrivateAdjustment();
if (filters_configured_)
{
if (checkHWFilters(rx.frame))
{
rx_queue_.push(rx);
}
}
else
{
rx_queue_.push(rx);
}
rx_queue_.push(rx);
}
}
else if (res == 0)
@@ -331,17 +327,24 @@ class SocketCanIface : public uavcan::ICanIface
/**
* Returns true if a frame accepted by HW filters
*/
bool checkHWFilters(const uavcan::CanFrame frame)
bool checkHWFilters (const ::can_frame frame) const
{
uint16_t container_size = hw_filters_container_.size();
for (uint16_t i = 0; i < container_size; i++)
if (! hw_filters_container_.empty())
{
if (((frame.id & hw_filters_container_[i].mask) ^ hw_filters_container_[i].id) == 0)
uint16_t container_size = hw_filters_container_.size();
for (uint16_t i = 0; i < container_size; i++)
{
return 1;
if (((frame.can_id & hw_filters_container_[i].can_mask) ^ hw_filters_container_[i].can_id) == 0)
{
return true;
}
}
return false;
}
else
{
return true;
}
return 0;
}
public:
@@ -439,40 +442,36 @@ public:
for (unsigned i = 0; i < num_configs; i++)
{
const uavcan::CanFilterConfig& fc = filter_configs[i];
hw_filters_container_[i].id = fc.id & uavcan::CanFrame::MaskExtID;
hw_filters_container_[i].mask = fc.mask & uavcan::CanFrame::MaskExtID;
hw_filters_container_[i].can_id = fc.id & uavcan::CanFrame::MaskExtID;
hw_filters_container_[i].can_mask = fc.mask & uavcan::CanFrame::MaskExtID;
if (fc.id & uavcan::CanFrame::FlagEFF)
{
hw_filters_container_[i].id |= CAN_EFF_FLAG;
hw_filters_container_[i].can_id |= CAN_EFF_FLAG;
}
if (fc.id & uavcan::CanFrame::FlagRTR)
{
hw_filters_container_[i].id |= CAN_RTR_FLAG;
hw_filters_container_[i].can_id |= CAN_RTR_FLAG;
}
if (fc.mask & uavcan::CanFrame::FlagEFF)
{
hw_filters_container_[i].mask |= CAN_EFF_FLAG;
hw_filters_container_[i].can_mask |= CAN_EFF_FLAG;
}
if (fc.mask & uavcan::CanFrame::FlagRTR)
{
hw_filters_container_[i].mask |= CAN_RTR_FLAG;
hw_filters_container_[i].can_mask |= CAN_RTR_FLAG;
}
}
if (! hw_filters_container_.empty())
{
filters_configured_ = true;
return 0;
}
return -1;
return 0;
}
/**
* SocketCAN emulates the CAN filters in software, so the number of filters is virtually unlimited.
* This method returns a constant value.
*/
std::uint16_t getNumFilters() const override { return 8; }
static constexpr unsigned NumFilters = 8;
std::uint16_t getNumFilters() const override { return NumFilters; }
/**
* Returns total number of errors of each kind detected since the object was created.