getIface() constants added

libuavcan/include/uavcan/driver/can.hpp

@@ -85,6 +85,17 @@ struct UAVCAN_EXPORT CanFilterConfig
 {
     uint32_t id;
     uint32_t mask;
+
+    //bool operator == (const CanFilterConfig&) const;
+    bool operator==(const CanFilterConfig& rhs) const
+    {
+        return rhs.id == id && rhs.mask == mask;
+    }
+
+    CanFilterConfig()
+        : id(0)
+        , mask(0)
+    { }
 };
 
 /**
@@ -167,6 +178,7 @@ public:
      * Returns an interface by index, or null pointer if the index is out of range.
      */
     virtual ICanIface* getIface(uint8_t iface_index) = 0;
+    virtual const ICanIface* getIface(uint8_t iface_index) const = 0;
 
     /**
      * Total number of available CAN interfaces.

libuavcan/test/node/test_node.hpp

@@ -14,7 +14,8 @@
 #include <set>
 #include <queue>
 #include "../transport/can/can.hpp"
-
+#include <uavcan/util/method_binder.hpp>
+#include <uavcan/node/subscriber.hpp>
 
 struct TestNode : public uavcan::INode
 {
@@ -74,6 +75,15 @@ struct PairableCanDriver : public uavcan::ICanDriver, public uavcan::ICanIface
         return NULL;
     }
 
+    virtual const uavcan::ICanIface* getIface(uavcan::uint8_t iface_index) const
+    {
+        if (iface_index == 0)
+        {
+            return this;
+        }
+        return NULL;
+    }
+
     virtual uavcan::uint8_t getNumIfaces() const { return 1; }
 
     virtual uavcan::int16_t select(uavcan::CanSelectMasks& inout_masks, uavcan::MonotonicTime blocking_deadline)

libuavcan/test/transport/can/can.hpp

@@ -150,9 +150,9 @@ public:
 
     // cppcheck-suppress unusedFunction
     // cppcheck-suppress functionConst
-    virtual uavcan::int16_t configureFilters(const uavcan::CanFilterConfig*, uavcan::uint16_t) { return -1; }
+    virtual uavcan::int16_t configureFilters(const uavcan::CanFilterConfig*, uavcan::uint16_t) { return 0; }
     // cppcheck-suppress unusedFunction
-    virtual uavcan::uint16_t getNumFilters() const { return 0; }
+    virtual uavcan::uint16_t getNumFilters() const { return 4; } // decrease number of HW_filters from 9 to 4
     virtual uavcan::uint64_t getErrorCount() const { return num_errors; }
 };
 
@@ -232,6 +232,7 @@ public:
     }
 
     virtual uavcan::ICanIface* getIface(uavcan::uint8_t iface_index) { return &ifaces.at(iface_index); }
+    virtual const uavcan::ICanIface* getIface(uavcan::uint8_t iface_index) const { return &ifaces.at(iface_index); }
     virtual uavcan::uint8_t getNumIfaces() const { return uavcan::uint8_t(ifaces.size()); }
 };
 

libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp

@@ -601,6 +601,11 @@ public:
     {
         return (iface_index >= num_ifaces_) ? nullptr : static_cast<SocketCanIface*>(ifaces_[iface_index]);
     }
+	const SocketCanIface* getIface(std::uint8_t iface_index) const override
+	{
+		return (iface_index >= num_ifaces_) ? nullptr : static_cast<const SocketCanIface*>(ifaces_[iface_index]);
+	}
+
 
     std::uint8_t getNumIfaces() const override { return num_ifaces_; }
 

libuavcan_drivers/lpc11c24/driver/include/uavcan_lpc11c24/can.hpp

@@ -48,7 +48,7 @@ public:
                                  uavcan::CanIOFlags flags);
 
     virtual uavcan::int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
-                            uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags);
+                                    uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags);
 
     virtual uavcan::int16_t select(uavcan::CanSelectMasks& inout_masks, uavcan::MonotonicTime blocking_deadline);
 
@@ -61,6 +61,8 @@ public:
 
     virtual uavcan::ICanIface* getIface(uavcan::uint8_t iface_index);
 
+    virtual const uavcan::ICanIface* getIface(uavcan::uint8_t iface_index) const;
+
     virtual uavcan::uint8_t getNumIfaces() const;
 };
 

libuavcan_drivers/lpc11c24/driver/src/can.cpp

@@ -348,6 +348,11 @@ uavcan::ICanIface* CanDriver::getIface(uavcan::uint8_t iface_index)
     return (iface_index == 0) ? this : NULL;
 }
 
+const uavcan::ICanIface* CanDriver::getIface(uavcan::uint8_t iface_index) const
+{
+    return (iface_index == 0) ? this : NULL;
+}
+
 uavcan::uint8_t CanDriver::getNumIfaces() const
 {
     return 1;