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IRxFrameListener

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This commit is contained in:
Pavel Kirienko
2015-06-08 11:57:05 +03:00
parent e8e0653022
commit 8891015321
2 changed files with 36 additions and 0 deletions
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libuavcan/src/transport/uc_dispatcher.cpp
+10
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@@ -199,6 +199,14 @@ void Dispatcher::handleLoopbackFrame(const CanRxFrame& can_frame)
loopback_listeners_.invokeListeners(frame);
}
void Dispatcher::notifyRxFrameListener(const CanRxFrame& can_frame, CanIOFlags flags)
{
if (rx_listener_ != NULL)
{
rx_listener_->handleRxFrame(can_frame, flags);
}
}
int Dispatcher::spin(MonotonicTime deadline)
{
int num_frames_processed = 0;
@@ -222,6 +230,7 @@ int Dispatcher::spin(MonotonicTime deadline)
num_frames_processed++;
handleFrame(frame);
}
notifyRxFrameListener(frame, flags);
}
}
while (sysclock_.getMonotonic() < deadline);
@@ -253,6 +262,7 @@ int Dispatcher::spinOnce()
num_frames_processed++;
handleFrame(frame);
}
notifyRxFrameListener(frame, flags);
}
else
{