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Modified CAN driver API: Passing the next pending TX frames into the select() call to facilitate proper prioritization in the driver

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This commit is contained in:
Pavel Kirienko
2015-07-05 18:46:21 +03:00
parent b4ba088e08
commit 8d923fee4c
10 changed files with 127 additions and 24 deletions
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libuavcan_drivers/linux/apps/test_multithreading.cpp
+3 -1
View File
@@ -310,7 +310,9 @@ class VirtualCanDriver : public uavcan::ICanDriver,
/**
* This and other methods of ICanDriver will be invoked by the sub-node thread.
*/
int16_t select(uavcan::CanSelectMasks& inout_masks, uavcan::MonotonicTime blocking_deadline) override
int16_t select(uavcan::CanSelectMasks& inout_masks,
const uavcan::CanFrame* (&)[uavcan::MaxCanIfaces],
uavcan::MonotonicTime blocking_deadline) override
{
bool need_block = (inout_masks.write == 0); // Write queue is infinite
for (unsigned i = 0; need_block && (i < num_ifaces_); i++)
libuavcan_drivers/linux/apps/test_socket.cpp
+6 -4
View File
@@ -236,6 +236,8 @@ static void testDriver(const std::vector<std::string>& iface_names)
ENFORCE(nullptr == driver.getIface(255));
ENFORCE(nullptr == driver.getIface(driver.getNumIfaces()));
const uavcan::CanFrame* pending_tx[uavcan::MaxCanIfaces] = {};
const unsigned AllIfacesMask = (1 << driver.getNumIfaces()) - 1;
/*
@@ -243,7 +245,7 @@ static void testDriver(const std::vector<std::string>& iface_names)
*/
std::cout << "select() 1" << std::endl;
uavcan::CanSelectMasks masks; // Driver provides masks for all available events
ENFORCE(driver.getNumIfaces() == driver.select(masks, tsMonoOffsetMs(1000)));
ENFORCE(driver.getNumIfaces() == driver.select(masks, pending_tx, tsMonoOffsetMs(1000)));
ENFORCE(masks.read == 0);
ENFORCE(masks.write == AllIfacesMask);
@@ -253,7 +255,7 @@ static void testDriver(const std::vector<std::string>& iface_names)
}
std::cout << "select() 2" << std::endl;
ENFORCE(driver.getNumIfaces() == driver.select(masks, tsMonoOffsetMs(1000)));
ENFORCE(driver.getNumIfaces() == driver.select(masks, pending_tx, tsMonoOffsetMs(1000)));
ENFORCE(masks.read == 0);
ENFORCE(masks.write == AllIfacesMask);
@@ -269,7 +271,7 @@ static void testDriver(const std::vector<std::string>& iface_names)
}
std::cout << "select() 3" << std::endl;
ENFORCE(driver.getNumIfaces() == driver.select(masks, tsMonoOffsetMs(1000)));
ENFORCE(driver.getNumIfaces() == driver.select(masks, pending_tx, tsMonoOffsetMs(1000)));
ENFORCE(masks.read == AllIfacesMask);
ENFORCE(masks.write == AllIfacesMask);
@@ -294,7 +296,7 @@ static void testDriver(const std::vector<std::string>& iface_names)
std::cout << "select() 4" << std::endl;
masks.write = 0;
ENFORCE(driver.getNumIfaces() == driver.select(masks, tsMonoOffsetMs(1000)));
ENFORCE(driver.getNumIfaces() == driver.select(masks, pending_tx, tsMonoOffsetMs(1000)));
ENFORCE(masks.read == 0);
ENFORCE(masks.write == AllIfacesMask);
libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp
+3 -1
View File
@@ -532,7 +532,9 @@ public:
* early returns.
* Also it can return more events than were originally requested by uavcan, which is also acceptable.
*/
std::int16_t select(uavcan::CanSelectMasks& inout_masks, uavcan::MonotonicTime blocking_deadline) override
std::int16_t select(uavcan::CanSelectMasks& inout_masks,
const uavcan::CanFrame* (&)[uavcan::MaxCanIfaces],
uavcan::MonotonicTime blocking_deadline) override
{
// Detecting whether we need to block at all
bool need_block = (inout_masks.write == 0); // Write queue is infinite