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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/src/transport/can_io.cpp
+12 -10
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@@ -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)