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addFilterConfig() added. computeConfiguration() separated from applyConfiguration.

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Other small corrections
This commit is contained in:
Ilia 2015-12-16 00:33:00 +00:00
parent a2ed997cb4
commit 5563dbacff
2 changed files with 88 additions and 51 deletions
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44
libuavcan/include/uavcan/transport/can_acceptance_filter_configurator.hpp
View File

@ -21,10 +21,11 @@ namespace uavcan
* preclude reception of irrelevant CAN frames on the hardware level.
*
* Configuration starts by creating an object of class @ref CanAcceptanceFilterConfigurator on the stack.
* Through the method configureFilters() it determines the number of available HW filters and the number
* of listeners. In case the number of listeners is higher than the number of available HW filters, the function
* automatically merges configs in the most efficient way until their number is reduced to the number of
* available HW filters. Subsequently obtained configurations are then loaded into the CAN driver.
* By means of computeConfiguration() method the class determines the number of available HW filters and the number
* of listeners. In case if custom configuration required, it is possible to add it through addFilterConfig().
* Subsequently obtained configurations are then loaded into the CAN driver by calling the applyConfiguration() method.
* If the cumulative number of configurations obtained by computeConfiguration() and addFilterConfig() is higher than
* the number of available HW filters, configurations will be merged automatically in the most efficient way.
*
* The maximum number of CAN acceptance filters is predefined in uavcan/build_config.hpp through a constant
* @ref MaxCanAcceptanceFilters. The algorithm doesn't allow to have higher number of HW filters configurations than
@ -57,7 +58,7 @@ private:
* HW filters.
* DefaultAnonMsgMask = 00000 00000000 00000000 11111111
* DefaultAnonMsgID = 00000 00000000 00000000 00000000, by default the config is added to accept all anonymous
* frames. In case there are no anonymous messages, invoke configureFilters(IgnoreAnonymousMessages).
* frames. In case there are no anonymous messages, invoke computeConfiguration(IgnoreAnonymousMessages).
*/
static const unsigned DefaultFilterMsgMask = 0xFFFF80;
static const unsigned DefaultFilterServiceMask = 0x7F80;
@ -72,7 +73,7 @@ private:
uint16_t getNumFilters() const;
/**
* Fills the multiset_configs_ to proceed it with computeConfiguration()
* Fills the multiset_configs_ to proceed it with mergeConfigurations()
*/
int16_t loadInputConfiguration(AnonymousMessages load_mode);
@ -80,35 +81,44 @@ private:
* This method merges several listeners's filter configurations by predetermined algorithm
* if number of available hardware acceptance filters less than number of listeners
*/
int16_t computeConfiguration();
/**
* This method loads the configuration computed with computeConfiguration() to the CAN driver.
*/
int16_t applyConfiguration();
int16_t mergeConfigurations();
INode& node_; //< Node reference is needed for access to ICanDriver and Dispatcher
MultisetConfigContainer multiset_configs_;
uint16_t filters_number_;
public:
explicit CanAcceptanceFilterConfigurator(INode& node)
explicit CanAcceptanceFilterConfigurator(INode& node, uint16_t filters_number = 0)
: node_(node)
, multiset_configs_(node.getAllocator())
, filters_number_(filters_number)
{ }
/**
* This method invokes loadInputConfiguration(), computeConfiguration() and applyConfiguration() consequently, so
* This method invokes loadInputConfiguration() and mergeConfigurations() consequently, so
* that optimal acceptance filter configuration will be computed and loaded through CanDriver::configureFilters()
*
* @param mode Either: AcceptAnonymousMessages - the filters will accept all anonymous messages (this is default)
* IgnoreAnonymousMessages - anonymous messages will be ignored
* @return 0 = success, negative for error.
*/
int configureFilters(AnonymousMessages mode = AcceptAnonymousMessages);
int computeConfiguration(AnonymousMessages mode = AcceptAnonymousMessages);
/**
* Returns the configuration computed with computeConfiguration().
* If computeConfiguration() has not been called yet, an empty configuration will be returned.
* Add the additional filter configuration to multiset_configs_. This method should be invoked only before
* computeConfiguration() member.
*/
int16_t addFilterConfig(const CanFilterConfig& config);
/**
* This method loads the configuration computed with mergeConfigurations() or explicitly added by addFilterConfig()
* to the CAN driver. Must be called after computeConfiguration() and addFilterConfig().
*/
int16_t applyConfiguration();
/**
* Returns the configuration computed with mergeConfigurations() or added by addFilterConfig().
* If mergeConfigurations() or addFilterConfig() has not been called yet, an empty configuration will be returned.
*/
const MultisetConfigContainer& getConfiguration() const
{

95
libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp
View File

@ -16,24 +16,22 @@ const unsigned CanAcceptanceFilterConfigurator::DefaultAnonMsgID;
int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration(AnonymousMessages load_mode)
{
multiset_configs_.clear();
if (load_mode == AcceptAnonymousMessages)
{
CanFilterConfig anon_frame_cfg;
anon_frame_cfg.id = DefaultAnonMsgID;
anon_frame_cfg.mask = DefaultAnonMsgMask;
anon_frame_cfg.id = DefaultAnonMsgID | CanFrame::FlagEFF;
anon_frame_cfg.mask = DefaultAnonMsgMask | CanFrame::FlagEFF | CanFrame::FlagRTR | CanFrame::FlagERR;
if (multiset_configs_.emplace(anon_frame_cfg) == NULL)
{
return -ErrMemory;
}
}
CanFilterConfig service_resp_cfg;
service_resp_cfg.id = DefaultFilterServiceID;
service_resp_cfg.id |= static_cast<uint32_t>(node_.getNodeID().get()) << 8;
service_resp_cfg.mask = DefaultFilterServiceMask;
if (multiset_configs_.emplace(service_resp_cfg) == NULL)
CanFilterConfig service_cfg;
service_cfg.id = DefaultFilterServiceID;
service_cfg.id |= (static_cast<uint32_t>(node_.getNodeID().get()) << 8) | CanFrame::FlagEFF;
service_cfg.mask = DefaultFilterServiceMask | CanFrame::FlagEFF | CanFrame::FlagRTR | CanFrame::FlagERR;
if (multiset_configs_.emplace(service_cfg) == NULL)
{
return -ErrMemory;
}
@ -42,8 +40,8 @@ int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration(AnonymousMessage
while (p != NULL)
{
CanFilterConfig cfg;
cfg.id = static_cast<uint32_t>(p->getDataTypeDescriptor().getID().get()) << 8;
cfg.mask = DefaultFilterMsgMask;
cfg.id = (static_cast<uint32_t>(p->getDataTypeDescriptor().getID().get()) << 8) | CanFrame::FlagEFF;
cfg.mask = DefaultFilterMsgMask | CanFrame::FlagEFF | CanFrame::FlagRTR | CanFrame::FlagERR;
if (multiset_configs_.emplace(cfg) == NULL)
{
return -ErrMemory;
@ -56,20 +54,10 @@ int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration(AnonymousMessage
return -ErrLogic;
}
#if UAVCAN_DEBUG
for (uint16_t i = 0; i < multiset_configs_.getSize(); i++)
{
UAVCAN_TRACE("CanAcceptanceFilterConfigurator::loadInputConfiguration()", "cfg.ID [%u] = %d", i,
multiset_configs_.getByIndex(i)->id);
UAVCAN_TRACE("CanAcceptanceFilterConfigurator::loadInputConfiguration()", "cfg.MK [%u] = %d", i,
multiset_configs_.getByIndex(i)->mask);
}
#endif
return 0;
}
int16_t CanAcceptanceFilterConfigurator::computeConfiguration()
int16_t CanAcceptanceFilterConfigurator::mergeConfigurations()
{
const uint16_t acceptance_filters_number = getNumFilters();
if (acceptance_filters_number == 0)
@ -115,12 +103,27 @@ int16_t CanAcceptanceFilterConfigurator::computeConfiguration()
int16_t CanAcceptanceFilterConfigurator::applyConfiguration(void)
{
CanFilterConfig filter_conf_array[MaxCanAcceptanceFilters];
const unsigned int filter_array_size = multiset_configs_.getSize();
unsigned int filter_array_size = multiset_configs_.getSize();
const uint16_t acceptance_filters_number = getNumFilters();
if (acceptance_filters_number == 0)
{
UAVCAN_TRACE("CanAcceptanceFilter", "No HW filters available");
return -ErrDriver;
}
if (filter_array_size > acceptance_filters_number)
{
UAVCAN_TRACE("CanAcceptanceFilter", "Too many filter configurations. Executing computeConfiguration()");
computeConfiguration(IgnoreAnonymousMessages);
filter_array_size = multiset_configs_.getSize();
}
if (filter_array_size > MaxCanAcceptanceFilters)
{
UAVCAN_ASSERT(0);
return -ErrLogic;
UAVCAN_TRACE("CanAcceptanceFilter", "Failed to apply HW filter configuration");
}
for (uint16_t i = 0; i < filter_array_size; i++)
@ -130,6 +133,16 @@ int16_t CanAcceptanceFilterConfigurator::applyConfiguration(void)
filter_conf_array[i] = temp_filter_config;
}
#if UAVCAN_DEBUG
for (uint16_t i = 0; i < multiset_configs_.getSize(); i++)
{
UAVCAN_TRACE("CanAcceptanceFilterConfigurator::applyConfiguration()", "cfg.ID [%u] = %d", i,
multiset_configs_.getByIndex(i)->id);
UAVCAN_TRACE("CanAcceptanceFilterConfigurator::applyConfiguration()", "cfg.MK [%u] = %d", i,
multiset_configs_.getByIndex(i)->mask);
}
#endif
ICanDriver& can_driver = node_.getDispatcher().getCanIOManager().getCanDriver();
for (uint8_t i = 0; i < node_.getDispatcher().getCanIOManager().getNumIfaces(); i++)
{
@ -137,19 +150,21 @@ int16_t CanAcceptanceFilterConfigurator::applyConfiguration(void)
if (iface == NULL)
{
return -ErrDriver;
UAVCAN_TRACE("CanAcceptanceFilter", "Failed to apply HW filter configuration");
}
int16_t num = iface->configureFilters(reinterpret_cast<CanFilterConfig*>(&filter_conf_array),
static_cast<uint16_t>(filter_array_size));
if (num < 0)
{
return -ErrDriver;
UAVCAN_TRACE("CanAcceptanceFilter", "Failed to apply HW filter configuration");
}
}
return 0;
}
int CanAcceptanceFilterConfigurator::configureFilters(AnonymousMessages mode)
int CanAcceptanceFilterConfigurator::computeConfiguration(AnonymousMessages mode)
{
if (getNumFilters() == 0)
{
@ -164,17 +179,11 @@ int CanAcceptanceFilterConfigurator::configureFilters(AnonymousMessages mode)
return fill_array_error;
}
int16_t compute_configuration_error = computeConfiguration();
if (compute_configuration_error != 0)
int16_t merge_configurations_error = mergeConfigurations();
if (merge_configurations_error != 0)
{
UAVCAN_TRACE("CanAcceptanceFilter", "Failed to compute optimal acceptance fliter's configuration");
return compute_configuration_error;
}
if (applyConfiguration() != 0)
{
UAVCAN_TRACE("CanAcceptanceFilter", "Failed to apply HW filter configuration");
return -ErrDriver;
return merge_configurations_error;
}
return 0;
@ -182,8 +191,10 @@ int CanAcceptanceFilterConfigurator::configureFilters(AnonymousMessages mode)
uint16_t CanAcceptanceFilterConfigurator::getNumFilters() const
{
if (filters_number_ == 0)
{
static const uint16_t InvalidOut = 0xFFFF;
uint16_t out = InvalidOut;
uint16_t out = InvalidOut;
ICanDriver& can_driver = node_.getDispatcher().getCanIOManager().getCanDriver();
for (uint8_t i = 0; i < node_.getDispatcher().getCanIOManager().getNumIfaces(); i++)
@ -204,6 +215,22 @@ uint16_t CanAcceptanceFilterConfigurator::getNumFilters() const
}
return (out == InvalidOut) ? 0 : out;
}
else
{
return filters_number_;
}
}
int16_t CanAcceptanceFilterConfigurator::addFilterConfig(const CanFilterConfig& config)
{
CanFilterConfig supl_config = config;
if (multiset_configs_.emplace(supl_config) == NULL)
{
return -ErrMemory;
}
return 0;
}
CanFilterConfig CanAcceptanceFilterConfigurator::mergeFilters(CanFilterConfig& a_, CanFilterConfig& b_)