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()); }
 };