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

Other small corrections

libuavcan/include/uavcan/transport/can_acceptance_filter_configurator.hpp

@@ -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
     {