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Superrefactoring - all time values were replaced with new safer classes from uavcan/time.hpp; generated types were moved away from anonymous namespaces because this makes it impossible to use a type from different compilation units. Some less vital fixes are to follow - see the next few commits

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This commit is contained in:
Pavel Kirienko
2014-03-11 14:41:48 +04:00
parent 633fa9d8bd
commit 65a4dcc2cf
48 changed files with 654 additions and 565 deletions
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libuavcan/include/uavcan/can_driver.hpp
+9 -8
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@@ -10,6 +10,7 @@
#include <algorithm>
#include <string>
#include <uavcan/internal/impl_constants.hpp>
#include <uavcan/system_clock.hpp>
namespace uavcan
{
@@ -87,10 +88,10 @@ public:
/**
* Non-blocking transmission.
* If the frame wasn't transmitted upon TX timeout expiration, the driver should discard it.
* If the frame wasn't transmitted upon TX deadline, the driver should discard it.
* @return 1 = one frame transmitted, 0 = TX buffer full, negative for error.
*/
virtual int send(const CanFrame& frame, uint64_t tx_timeout_usec) = 0;
virtual int send(const CanFrame& frame, MonotonicTime tx_deadline) = 0;
/**
* Non-blocking reception.
@@ -100,11 +101,11 @@ public:
* UTC timestamp is optional, if available it will be used for precise time synchronization;
* must be set to zero if not available.
* Refer to @ref ISystemClock to learn more about timestamps.
* @param [out] out_ts_monotonic_usec Monotonic timestamp, usec, mandatory.
* @param [out] out_ts_utc_usec UTC timestamp, usec, optional, zero if unknown.
* @param [out] out_ts_monotonic Monotonic timestamp, mandatory.
* @param [out] out_ts_utc UTC timestamp, optional, zero if unknown.
* @return 1 = one frame received, 0 = RX buffer empty, negative for error.
*/
virtual int receive(CanFrame& out_frame, uint64_t& out_ts_monotonic_usec, uint64_t& out_ts_utc_usec) = 0;
virtual int receive(CanFrame& out_frame, MonotonicTime& out_ts_monotonic, UtcTime& out_ts_utc) = 0;
/**
* Configure the hardware CAN filters. @ref CanFilterConfig.
@@ -142,15 +143,15 @@ public:
virtual int getNumIfaces() const = 0;
/**
* Block until the blocking timeout expires, or one of the specified interfaces becomes available for read or write.
* Block until the deadline, or one of the specified interfaces becomes available for read or write.
* Iface masks will be modified by the driver to indicate which exactly interfaces are available for IO.
* Bit position in the masks defines interface index.
* @param [in,out] inout_write_iface_mask Mask indicating which interfaces are needed/available to write.
* @param [in,out] inout_read_iface_mask Same as above for reading.
* @param [in] timeout_usec Zero means non-blocking operation.
* @param [in] blocking_deadline Zero means non-blocking operation.
* @return Positive number of ready interfaces or negative error code.
*/
virtual int select(int& inout_write_iface_mask, int& inout_read_iface_mask, uint64_t timeout_usec) = 0;
virtual int select(int& inout_write_iface_mask, int& inout_read_iface_mask, MonotonicTime blocking_deadline) = 0;
};
}