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Ilia
2015-12-21 00:34:38 +00:00
parent 292b06c2d8
commit 73f0a9074d
3 changed files with 34 additions and 37 deletions
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libuavcan/include/uavcan/transport/can_acceptance_filter_configurator.hpp
+1 -2
View File
@@ -68,7 +68,7 @@ private:
typedef uavcan::Multiset<CanFilterConfig> MultisetConfigContainer;
static CanFilterConfig mergeFilters(CanFilterConfig &a_, CanFilterConfig &b_);
static CanFilterConfig mergeFilters(CanFilterConfig& a_, CanFilterConfig& b_);
static uint8_t countBits(uint32_t n_);
uint16_t getNumFilters() const;
@@ -127,5 +127,4 @@ public:
};
}
#endif // UAVCAN_BUILD_CONFIG_HPP_INCLUDED
libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp
+28 -29
View File
@@ -193,35 +193,35 @@ int CanAcceptanceFilterConfigurator::computeConfiguration(AnonymousMessages mode
uint16_t CanAcceptanceFilterConfigurator::getNumFilters() const
{
if (filters_number_ == 0)
{
static const uint16_t InvalidOut = 0xFFFF;
uint16_t out = InvalidOut;
ICanDriver& can_driver = node_.getDispatcher().getCanIOManager().getCanDriver();
for (uint8_t i = 0; i < node_.getDispatcher().getCanIOManager().getNumIfaces(); i++)
if (filters_number_ == 0)
{
const ICanIface* iface = can_driver.getIface(i);
if (iface == NULL)
{
UAVCAN_ASSERT(0);
out = 0;
break;
}
const uint16_t num = iface->getNumFilters();
out = min(out, num);
if (out > MaxCanAcceptanceFilters)
{
out = MaxCanAcceptanceFilters;
}
}
static const uint16_t InvalidOut = 0xFFFF;
uint16_t out = InvalidOut;
ICanDriver& can_driver = node_.getDispatcher().getCanIOManager().getCanDriver();
return (out == InvalidOut) ? 0 : out;
}
else
{
return filters_number_;
}
for (uint8_t i = 0; i < node_.getDispatcher().getCanIOManager().getNumIfaces(); i++)
{
const ICanIface* iface = can_driver.getIface(i);
if (iface == NULL)
{
UAVCAN_ASSERT(0);
out = 0;
break;
}
const uint16_t num = iface->getNumFilters();
out = min(out, num);
if (out > MaxCanAcceptanceFilters)
{
out = MaxCanAcceptanceFilters;
}
}
return (out == InvalidOut) ? 0 : out;
}
else
{
return filters_number_;
}
}
int16_t CanAcceptanceFilterConfigurator::addFilterConfig(const CanFilterConfig& config)
@@ -231,7 +231,7 @@ int16_t CanAcceptanceFilterConfigurator::addFilterConfig(const CanFilterConfig&
return -ErrMemory;
}
return 0;
return 0;
}
CanFilterConfig CanAcceptanceFilterConfigurator::mergeFilters(CanFilterConfig& a_, CanFilterConfig& b_)
@@ -253,5 +253,4 @@ uint8_t CanAcceptanceFilterConfigurator::countBits(uint32_t n_)
return c_;
}
}
libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp
+5 -6
View File
@@ -58,7 +58,7 @@ class SocketCanIface : public uavcan::ICanIface
{
static inline ::can_frame makeSocketCanFrame(const uavcan::CanFrame& uavcan_frame)
{
::can_frame sockcan_frame { uavcan_frame.id & uavcan::CanFrame::MaskExtID, uavcan_frame.dlc, { } };
::can_frame sockcan_frame { uavcan_frame.id& uavcan::CanFrame::MaskExtID, uavcan_frame.dlc, { } };
(void)std::copy(uavcan_frame.data, uavcan_frame.data + uavcan_frame.dlc, sockcan_frame.data);
if (uavcan_frame.isExtended())
{
@@ -310,7 +310,6 @@ class SocketCanIface : public uavcan::ICanIface
{
rx.ts_utc += clock_.getPrivateAdjustment();
rx_queue_.push(rx);
}
}
else if (res == 0)
@@ -327,9 +326,9 @@ class SocketCanIface : public uavcan::ICanIface
/**
* Returns true if a frame accepted by HW filters
*/
bool checkHWFilters (const ::can_frame frame) const
bool checkHWFilters(const ::can_frame frame) const
{
if (! hw_filters_container_.empty())
if (!hw_filters_container_.empty())
{
uint16_t container_size = hw_filters_container_.size();
for (uint16_t i = 0; i < container_size; i++)
@@ -486,7 +485,7 @@ public:
/**
* Returns number of errors of each kind in a map.
*/
const decltype(errors_)& getErrors() const { return errors_; }
const decltype(errors_) & getErrors() const { return errors_; }
int getFileDescriptor() const { return fd_; }
@@ -537,7 +536,7 @@ public:
goto fail;
}
// Non-blocking
if (::fcntl(s, F_SETFL , O_NONBLOCK) < 0)
if (::fcntl(s, F_SETFL, O_NONBLOCK) < 0)
{
goto fail;
}