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CAN filter cfger API doc clarifications

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This commit is contained in:
Pavel Kirienko 2015-12-27 19:34:16 +03:00
parent 8f67bcbc39
commit 9a55a4fc9b
1 changed files with 18 additions and 5 deletions
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23
libuavcan/include/uavcan/transport/can_acceptance_filter_configurator.hpp
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@ -27,6 +27,9 @@ namespace uavcan
* If the cumulative number of configurations obtained by computeConfiguration() and addFilterConfig() is higher than
* the number of available HW filters, configurations will be merged automatically in the most efficient way.
*
* Note that if the application adds additional server or subscriber objects after the filters have been configured,
* the configuration procedure will have to be performed again.
*
* The maximum number of CAN acceptance filters is predefined in uavcan/build_config.hpp through a constant
* @ref MaxCanAcceptanceFilters. The algorithm doesn't allow to have higher number of HW filters configurations than
* defined by MaxCanAcceptanceFilters. You can change this value according to the number specified in your CAN driver
@ -88,6 +91,13 @@ private:
uint16_t filters_number_;
public:
/**
* @param node Libuavcan node whose subscribers/servers/etc will be used to configure the filters.
*
* @param filters_number Allows to override the maximum number of hardware filters to use.
* If set to zero (which is default), the class will obtain the number of available
* filters from the CAN driver via @ref ICanIface::getNumFilters().
*/
explicit CanAcceptanceFilterConfigurator(INode& node, uint16_t filters_number = 0)
: node_(node)
, multiset_configs_(node.getAllocator())
@ -95,8 +105,11 @@ public:
{ }
/**
* This method invokes loadInputConfiguration() and mergeConfigurations() consequently, so
* that optimal acceptance filter configuration will be computed and loaded through CanDriver::configureFilters()
* This method invokes loadInputConfiguration() and mergeConfigurations() consequently
* in order to comute optimal filter configurations for the current hardware.
*
* It can only be invoked when all of the subscriber and server objects are initialized.
* If new subscriber or server objects are added later, the filters will have to be reconfigured again.
*
* @param mode Either: AcceptAnonymousMessages - the filters will accept all anonymous messages (this is default)
* IgnoreAnonymousMessages - anonymous messages will be ignored
@ -105,8 +118,8 @@ public:
int computeConfiguration(AnonymousMessages mode = AcceptAnonymousMessages);
/**
* Add the additional filter configuration to multiset_configs_. This method should be invoked only before
* computeConfiguration() member.
* Add an additional filter configuration.
* This method must not be invoked after @ref computeConfiguration().
*/
int16_t addFilterConfig(const CanFilterConfig& config);
@ -118,7 +131,7 @@ public:
/**
* Returns the configuration computed with mergeConfigurations() or added by addFilterConfig().
* If mergeConfigurations() or addFilterConfig() has not been called yet, an empty configuration will be returned.
* If mergeConfigurations() or addFilterConfig() have not been called yet, an empty configuration will be returned.
*/
const MultisetConfigContainer& getConfiguration() const
{