fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-30 16:44:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

Support for priority in TransferSender

Browse Source
This commit is contained in:
Pavel Kirienko 2015-04-30 12:30:13 +03:00
parent 5c0314e187
commit 6b19bf09e2
3 changed files with 35 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
libuavcan/include/uavcan/transport/transfer_sender.hpp
View File

@ -21,6 +21,7 @@ class UAVCAN_EXPORT TransferSender
{
const MonotonicDuration max_transfer_interval_;
const DataTypeDescriptor& data_type_;
TransferPriority priority_;
const CanTxQueue::Qos qos_;
const TransferCRC crc_base_;
CanIOFlags flags_;
@ -29,7 +30,7 @@ class UAVCAN_EXPORT TransferSender
Dispatcher& dispatcher_;
void registerError();
void registerError() const;
public:
enum { AllIfacesMask = 0xFF };
@ -43,6 +44,7 @@ public:
MonotonicDuration max_transfer_interval = getDefaultMaxTransferInterval())
: max_transfer_interval_(max_transfer_interval)
, data_type_(data_type)
, priority_(TransferPriorityNormal)
, qos_(qos)
, crc_base_(data_type.getSignature().toTransferCRC())
, flags_(CanIOFlags(0))
@ -61,6 +63,23 @@ public:
iface_mask_ = iface_mask;
}
/**
* Transfer priority can be assigned only for message transfers.
* Attempt to change priority of a service transfer will not have any effect.
*/
TransferPriority getPriority() const { return priority_; }
void setPriority(TransferPriority prio)
{
if (prio < NumTransferPriorities && prio != TransferPriorityService)
{
priority_ = prio;
}
else
{
UAVCAN_ASSERT(0);
}
}
/**
* Anonymous transfers (i.e. transfers that don't carry a valid Source Node ID) can be sent if
* the local node is configured in passive mode (i.e. the node doesn't have a valid Node ID).
@ -76,14 +95,14 @@ public:
*/
int send(const uint8_t* payload, unsigned payload_len, MonotonicTime tx_deadline,
MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id,
TransferID tid);
TransferID tid) const;
/**
* Send with automatic Transfer ID.
* TID is managed by OutgoingTransferRegistry.
*/
int send(const uint8_t* payload, unsigned payload_len, MonotonicTime tx_deadline,
MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id);
MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id) const;
};
}

1
libuavcan/src/transport/uc_frame.cpp
View File

@ -35,6 +35,7 @@ uint_fast8_t Frame::getMaxIndexForTransferType(const TransferType type)
void Frame::setPriority(const TransferPriority priority)
{
UAVCAN_ASSERT(priority < NumTransferPriorities);
if (transfer_type_ == TransferTypeMessageBroadcast ||
transfer_type_ == TransferTypeMessageUnicast)
{

15
libuavcan/src/transport/uc_transfer_sender.cpp
View File

@ -10,14 +10,14 @@
namespace uavcan
{
void TransferSender::registerError()
void TransferSender::registerError() const
{
dispatcher_.getTransferPerfCounter().addError();
}
int TransferSender::send(const uint8_t* payload, unsigned payload_len, MonotonicTime tx_deadline,
MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id,
TransferID tid)
TransferID tid) const
{
if (payload_len > getMaxPayloadLenForTransferType(transfer_type))
{
@ -25,6 +25,12 @@ int TransferSender::send(const uint8_t* payload, unsigned payload_len, Monotonic
}
Frame frame(data_type_.getID(), transfer_type, dispatcher_.getNodeID(), dst_node_id, 0, tid);
if (transfer_type == TransferTypeMessageBroadcast ||
transfer_type == TransferTypeMessageUnicast)
{
UAVCAN_ASSERT(priority_ != TransferPriorityService);
frame.setPriority(priority_);
}
UAVCAN_TRACE("TransferSender", "%s", frame.toString().c_str());
/*
@ -126,7 +132,7 @@ int TransferSender::send(const uint8_t* payload, unsigned payload_len, Monotonic
}
int TransferSender::send(const uint8_t* payload, unsigned payload_len, MonotonicTime tx_deadline,
MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id)
MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id) const
{
// This check must be performed before TID is incremented to avoid skipping TID values on failures
if (payload_len > getMaxPayloadLenForTransferType(transfer_type))
@ -134,6 +140,9 @@ int TransferSender::send(const uint8_t* payload, unsigned payload_len, Monotonic
return -ErrTransferTooLong;
}
/*
* TODO: TID is not needed for anonymous transfers, this part of the code can be skipped?
*/
const OutgoingTransferRegistryKey otr_key(data_type_.getID(), transfer_type, dst_node_id);
UAVCAN_ASSERT(!tx_deadline.isZero());