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CAN IO flags

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This commit is contained in:
Pavel Kirienko
2014-03-21 16:02:05 +04:00
parent 6246f24297
commit 9d35c616ef
13 changed files with 258 additions and 88 deletions
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libuavcan/test/node/test_node.hpp
+24 -6
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@@ -42,6 +42,7 @@ struct PairableCanDriver : public uavcan::ICanDriver, public uavcan::ICanIface
uavcan::ISystemClock& clock;
PairableCanDriver* other;
std::queue<uavcan::CanFrame> read_queue;
std::queue<uavcan::CanFrame> loopback_queue;
PairableCanDriver(uavcan::ISystemClock& clock)
: clock(clock)
@@ -67,7 +68,9 @@ struct PairableCanDriver : public uavcan::ICanDriver, public uavcan::ICanIface
{
assert(other);
if (inout_masks.read == 1)
inout_masks.read = read_queue.size() ? 1 : 0;
{
inout_masks.read = (read_queue.size() || loopback_queue.size()) ? 1 : 0;
}
if (inout_masks.read || inout_masks.write)
return 1;
@@ -78,19 +81,34 @@ struct PairableCanDriver : public uavcan::ICanDriver, public uavcan::ICanIface
return 0;
}
int send(const uavcan::CanFrame& frame, uavcan::MonotonicTime)
int send(const uavcan::CanFrame& frame, uavcan::MonotonicTime, uavcan::CanIOFlags flags)
{
assert(other);
other->read_queue.push(frame);
if (flags & uavcan::CanIOFlagLoopback)
{
loopback_queue.push(frame);
}
return 1;
}
int receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic, uavcan::UtcTime& out_ts_utc)
int receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic, uavcan::UtcTime& out_ts_utc,
uavcan::CanIOFlags& out_flags)
{
assert(other);
assert(read_queue.size());
out_frame = read_queue.front();
read_queue.pop();
out_flags = 0;
if (loopback_queue.empty())
{
assert(read_queue.size());
out_frame = read_queue.front();
read_queue.pop();
}
else
{
out_flags |= uavcan::CanIOFlagLoopback;
out_frame = loopback_queue.front();
loopback_queue.pop();
}
out_ts_monotonic = clock.getMonotonic();
out_ts_utc = clock.getUtc();
return 1;