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ICanDriver::select() call accepts CanSelectMasks instead of raw integer masks

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This commit is contained in:
Pavel Kirienko
2014-03-21 10:12:33 +04:00
parent 57d720119f
commit 670d844f08
5 changed files with 62 additions and 45 deletions
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libuavcan/include/uavcan/driver/can.hpp
+17 -4
View File
@@ -78,6 +78,20 @@ struct CanFilterConfig
uint32_t mask;
};
/**
* Events to look for during @ref ICanDriver::select() call
*/
struct CanSelectMasks
{
uint8_t read;
uint8_t write;
CanSelectMasks()
: read(0)
, write(0)
{ }
};
/**
* Single non-blocking CAN interface.
*/
@@ -146,12 +160,11 @@ public:
* 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] blocking_deadline Zero means non-blocking operation.
* @param [in,out] inout_masks Masks indicating which interfaces are needed/available for IO.
* @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, MonotonicTime blocking_deadline) = 0;
virtual int select(CanSelectMasks& inout_masks, MonotonicTime blocking_deadline) = 0;
};
}
libuavcan/src/transport/can_io.cpp
+12 -10
View File
@@ -271,18 +271,19 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
{
if (iface_mask == 0)
break;
int write_mask = iface_mask | makePendingTxMask();
CanSelectMasks masks;
masks.write = iface_mask | makePendingTxMask();
{
int read_mask = 0;
const int select_res = driver_.select(write_mask, read_mask, blocking_deadline);
const int select_res = driver_.select(masks, blocking_deadline);
if (select_res < 0)
return select_res;
assert(masks.read == 0);
}
// Transmission
for (int i = 0; i < num_ifaces; i++)
{
if (write_mask & (1 << i))
if (masks.write & (1 << i))
{
int res = 0;
if (iface_mask & (1 << i))
@@ -309,7 +310,7 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
// Timeout. Enqueue the frame if wasn't transmitted and leave.
const bool timed_out = sysclock_.getMonotonic() >= blocking_deadline;
if (write_mask == 0 || timed_out)
if (masks.write == 0 || timed_out)
{
if (!timed_out)
{
@@ -333,10 +334,11 @@ int CanIOManager::receive(CanRxFrame& frame, MonotonicTime blocking_deadline)
while (true)
{
int write_mask = makePendingTxMask();
int read_mask = (1 << num_ifaces) - 1;
CanSelectMasks masks;
masks.write = makePendingTxMask();
masks.read = (1 << num_ifaces) - 1;
{
const int select_res = driver_.select(write_mask, read_mask, blocking_deadline);
const int select_res = driver_.select(masks, blocking_deadline);
if (select_res < 0)
return select_res;
}
@@ -344,14 +346,14 @@ int CanIOManager::receive(CanRxFrame& frame, MonotonicTime blocking_deadline)
// Write - if buffers are not empty, one frame will be sent for each iface per one receive() call
for (int i = 0; i < num_ifaces; i++)
{
if (write_mask & (1 << i))
if (masks.write & (1 << i))
sendFromTxQueue(i);
}
// Read
for (int i = 0; i < num_ifaces; i++)
{
if (read_mask & (1 << i))
if (masks.read & (1 << i))
{
ICanIface* const iface = driver_.getIface(i);
if (iface == NULL)
libuavcan/test/node/test_node.hpp
+4 -4
View File
@@ -63,13 +63,13 @@ struct PairableCanDriver : public uavcan::ICanDriver, public uavcan::ICanIface
int getNumIfaces() const { return 1; }
int select(int& inout_write_iface_mask, int& inout_read_iface_mask, uavcan::MonotonicTime blocking_deadline)
int select(uavcan::CanSelectMasks& inout_masks, uavcan::MonotonicTime blocking_deadline)
{
assert(other);
if (inout_read_iface_mask == 1)
inout_read_iface_mask = read_queue.size() ? 1 : 0;
if (inout_masks.read == 1)
inout_masks.read = read_queue.size() ? 1 : 0;
if (inout_read_iface_mask || inout_write_iface_mask)
if (inout_masks.read || inout_masks.write)
return 1;
while (clock.getMonotonic() < blocking_deadline)
libuavcan/test/transport/can/can.hpp
+7 -7
View File
@@ -140,7 +140,7 @@ public:
, select_failure(false)
{ }
int select(int& inout_write_iface_mask, int& inout_read_iface_mask, uavcan::MonotonicTime deadline)
int select(uavcan::CanSelectMasks& inout_masks, uavcan::MonotonicTime deadline)
{
assert(this);
//std::cout << "Write/read masks: " << inout_write_iface_mask << "/" << inout_read_iface_mask << std::endl;
@@ -149,21 +149,21 @@ public:
return -1;
const int valid_iface_mask = (1 << getNumIfaces()) - 1;
EXPECT_FALSE(inout_write_iface_mask & ~valid_iface_mask);
EXPECT_FALSE(inout_read_iface_mask & ~valid_iface_mask);
EXPECT_FALSE(inout_masks.write & ~valid_iface_mask);
EXPECT_FALSE(inout_masks.read & ~valid_iface_mask);
int out_write_mask = 0;
int out_read_mask = 0;
for (int i = 0; i < getNumIfaces(); i++)
{
const int mask = 1 << i;
if ((inout_write_iface_mask & mask) && ifaces.at(i).writeable)
if ((inout_masks.write & mask) && ifaces.at(i).writeable)
out_write_mask |= mask;
if ((inout_read_iface_mask & mask) && ifaces.at(i).rx.size())
if ((inout_masks.read & mask) && ifaces.at(i).rx.size())
out_read_mask |= mask;
}
inout_write_iface_mask = out_write_mask;
inout_read_iface_mask = out_read_mask;
inout_masks.write = out_write_mask;
inout_masks.read = out_read_mask;
if ((out_write_mask | out_read_mask) == 0)
{
const uavcan::MonotonicTime ts = iclock.getMonotonic();
libuavcan/test/transport/can/iface_mock.cpp
+22 -20
View File
@@ -8,6 +8,7 @@
TEST(CanIOManager, CanDriverMock)
{
using uavcan::CanFrame;
using uavcan::CanSelectMasks;
SystemClockMock clockmock;
CanDriverMock driver(3, clockmock);
@@ -15,32 +16,33 @@ TEST(CanIOManager, CanDriverMock)
ASSERT_EQ(3, driver.getNumIfaces());
// All WR, no RD
int mask_wr = 7;
int mask_rd = 7;
EXPECT_LT(0, driver.select(mask_wr, mask_rd, uavcan::MonotonicTime::fromUSec(100)));
EXPECT_EQ(7, mask_wr);
EXPECT_EQ(0, mask_rd);
CanSelectMasks masks;
masks.write = 7;
masks.read = 7;
EXPECT_LT(0, driver.select(masks, uavcan::MonotonicTime::fromUSec(100)));
EXPECT_EQ(7, masks.write);
EXPECT_EQ(0, masks.read);
for (int i = 0; i < 3; i++)
driver.ifaces.at(i).writeable = false;
// No WR, no RD
mask_wr = 7;
mask_rd = 7;
EXPECT_EQ(0, driver.select(mask_wr, mask_rd, uavcan::MonotonicTime::fromUSec(100)));
EXPECT_EQ(0, mask_wr);
EXPECT_EQ(0, mask_rd);
masks.write = 7;
masks.read = 7;
EXPECT_EQ(0, driver.select(masks, uavcan::MonotonicTime::fromUSec(100)));
EXPECT_EQ(0, masks.write);
EXPECT_EQ(0, masks.read);
EXPECT_EQ(100, clockmock.monotonic);
EXPECT_EQ(100, clockmock.utc);
// No WR, #1 RD
const CanFrame fr1 = makeCanFrame(123, "foo", EXT);
driver.ifaces.at(1).pushRx(fr1);
mask_wr = 7;
mask_rd = 6;
EXPECT_LT(0, driver.select(mask_wr, mask_rd, uavcan::MonotonicTime::fromUSec(100)));
EXPECT_EQ(0, mask_wr);
EXPECT_EQ(2, mask_rd);
masks.write = 7;
masks.read = 6;
EXPECT_LT(0, driver.select(masks, uavcan::MonotonicTime::fromUSec(100)));
EXPECT_EQ(0, masks.write);
EXPECT_EQ(2, masks.read);
CanFrame fr2;
uavcan::MonotonicTime ts_monotonic;
uavcan::UtcTime ts_utc;
@@ -52,9 +54,9 @@ TEST(CanIOManager, CanDriverMock)
// #0 WR, #1 RD, Select failure
driver.ifaces.at(0).writeable = true;
driver.select_failure = true;
mask_wr = 1;
mask_rd = 7;
EXPECT_EQ(-1, driver.select(mask_wr, mask_rd, uavcan::MonotonicTime::fromUSec(100)));
EXPECT_EQ(1, mask_wr); // Leaving masks unchanged - the library must ignore them
EXPECT_EQ(7, mask_rd);
masks.write = 1;
masks.read = 7;
EXPECT_EQ(-1, driver.select(masks, uavcan::MonotonicTime::fromUSec(100)));
EXPECT_EQ(1, masks.write); // Leaving masks unchanged - the library must ignore them
EXPECT_EQ(7, masks.read);
}