fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 23:33:38 +08:00
Code Issues Packages Projects Releases Wiki Activity

Proper OTR deadlines

Browse Source
This commit is contained in:
Pavel Kirienko
2015-07-20 18:11:53 +03:00
parent 035f107ab5
commit 4238df3e9f
3 changed files with 10 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/src/transport/uc_outgoing_transfer_registry.cpp
+5
View File
@@ -19,4 +19,9 @@ std::string OutgoingTransferRegistryKey::toString() const
}
#endif
/*
* IOutgoingTransferRegistry
*/
const MonotonicDuration IOutgoingTransferRegistry::MinEntryLifetime = MonotonicDuration::fromMSec(2000);
}
libuavcan/src/transport/uc_transfer_sender.cpp
+2 -1
View File
@@ -152,7 +152,8 @@ int TransferSender::send(const uint8_t* payload, unsigned payload_len, Monotonic
const OutgoingTransferRegistryKey otr_key(data_type_id_, transfer_type, dst_node_id);
UAVCAN_ASSERT(!tx_deadline.isZero());
const MonotonicTime otr_deadline = tx_deadline + max_transfer_interval_ * 2;
const MonotonicTime otr_deadline = tx_deadline + max(max_transfer_interval_ * 2,
IOutgoingTransferRegistry::MinEntryLifetime);
TransferID* const tid = dispatcher_.getOutgoingTransferRegistry().accessOrCreate(otr_key, otr_deadline);
if (tid == NULL)