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CamIOManager allows the driver to set event masks even if corresponding events were not requested. This feature somewhat simplifies driver logic.

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This commit is contained in:
Pavel Kirienko
2014-03-31 14:22:52 +04:00
parent b941c6293c
commit 75f475fac2
2 changed files with 16 additions and 2 deletions
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libuavcan/include/uavcan/transport/can_io.hpp
+1
View File
@@ -153,6 +153,7 @@ class CanIOManager : Noncopyable
int sendToIface(uint8_t iface_index, const CanFrame& frame, MonotonicTime tx_deadline, CanIOFlags flags);
int sendFromTxQueue(uint8_t iface_index);
uint8_t makePendingTxMask() const;
int callSelect(CanSelectMasks& inout_masks, MonotonicTime blocking_deadline);
public:
CanIOManager(ICanDriver& driver, IAllocator& allocator, ISystemClock& sysclock)
libuavcan/src/transport/can_io.cpp
+15 -2
View File
@@ -263,6 +263,19 @@ uint8_t CanIOManager::makePendingTxMask() const
return write_mask;
}
int CanIOManager::callSelect(CanSelectMasks& inout_masks, MonotonicTime blocking_deadline)
{
const CanSelectMasks in_masks = inout_masks;
const int res = driver_.select(inout_masks, blocking_deadline);
if (res < 0)
{
return -ErrDriver;
}
inout_masks.read &= in_masks.read; // Driver is not required to clean the masks
inout_masks.write &= in_masks.write;
return res;
}
uint8_t CanIOManager::getNumIfaces() const
{
const uint8_t num = driver_.getNumIfaces();
@@ -308,7 +321,7 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
CanSelectMasks masks;
masks.write = iface_mask | makePendingTxMask();
{
const int select_res = driver_.select(masks, blocking_deadline);
const int select_res = callSelect(masks, blocking_deadline);
if (select_res < 0)
{
return -ErrDriver;
@@ -380,7 +393,7 @@ int CanIOManager::receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline
masks.write = makePendingTxMask();
masks.read = (1 << num_ifaces) - 1;
{
const int select_res = driver_.select(masks, blocking_deadline);
const int select_res = callSelect(masks, blocking_deadline);
if (select_res < 0)
{
return -ErrDriver;