fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 05:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'origin/filters_corrections'

Browse Source
This commit is contained in:
Ilia
2015-12-19 16:57:18 +00:00
parent 1006c7cdc2 8a5719248f
commit c5a340719f
4 changed files with 211 additions and 96 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/include/uavcan/transport/can_acceptance_filter_configurator.hpp
+27 -17
View File
@@ -21,10 +21,11 @@ namespace uavcan
* preclude reception of irrelevant CAN frames on the hardware level.
*
* Configuration starts by creating an object of class @ref CanAcceptanceFilterConfigurator on the stack.
* Through the method configureFilters() it determines the number of available HW filters and the number
* of listeners. In case the number of listeners is higher than the number of available HW filters, the function
* automatically merges configs in the most efficient way until their number is reduced to the number of
* available HW filters. Subsequently obtained configurations are then loaded into the CAN driver.
* By means of computeConfiguration() method the class determines the number of available HW filters and the number
* of listeners. In case if custom configuration required, it is possible to add it through addFilterConfig().
* Subsequently obtained configurations are then loaded into the CAN driver by calling the applyConfiguration() method.
* 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.
*
* 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
@@ -57,7 +58,7 @@ private:
* HW filters.
* DefaultAnonMsgMask = 00000 00000000 00000000 11111111
* DefaultAnonMsgID = 00000 00000000 00000000 00000000, by default the config is added to accept all anonymous
* frames. In case there are no anonymous messages, invoke configureFilters(IgnoreAnonymousMessages).
* frames. In case there are no anonymous messages, invoke computeConfiguration(IgnoreAnonymousMessages).
*/
static const unsigned DefaultFilterMsgMask = 0xFFFF80;
static const unsigned DefaultFilterServiceMask = 0x7F80;
@@ -72,7 +73,7 @@ private:
uint16_t getNumFilters() const;
/**
* Fills the multiset_configs_ to proceed it with computeConfiguration()
* Fills the multiset_configs_ to proceed it with mergeConfigurations()
*/
int16_t loadInputConfiguration(AnonymousMessages load_mode);
@@ -80,35 +81,44 @@ private:
* This method merges several listeners's filter configurations by predetermined algorithm
* if number of available hardware acceptance filters less than number of listeners
*/
int16_t computeConfiguration();
/**
* This method loads the configuration computed with computeConfiguration() to the CAN driver.
*/
int16_t applyConfiguration();
int16_t mergeConfigurations();
INode& node_; //< Node reference is needed for access to ICanDriver and Dispatcher
MultisetConfigContainer multiset_configs_;
uint16_t filters_number_;
public:
explicit CanAcceptanceFilterConfigurator(INode& node)
explicit CanAcceptanceFilterConfigurator(INode& node, uint16_t filters_number = 0)
: node_(node)
, multiset_configs_(node.getAllocator())
, filters_number_(filters_number)
{ }
/**
* This method invokes loadInputConfiguration(), computeConfiguration() and applyConfiguration() consequently, so
* This method invokes loadInputConfiguration() and mergeConfigurations() consequently, so
* that optimal acceptance filter configuration will be computed and loaded through CanDriver::configureFilters()
*
* @param mode Either: AcceptAnonymousMessages - the filters will accept all anonymous messages (this is default)
* IgnoreAnonymousMessages - anonymous messages will be ignored
* @return 0 = success, negative for error.
*/
int configureFilters(AnonymousMessages mode = AcceptAnonymousMessages);
int computeConfiguration(AnonymousMessages mode = AcceptAnonymousMessages);
/**
* Returns the configuration computed with computeConfiguration().
* If computeConfiguration() has not been called yet, an empty configuration will be returned.
* Add the additional filter configuration to multiset_configs_. This method should be invoked only before
* computeConfiguration() member.
*/
int16_t addFilterConfig(const CanFilterConfig& config);
/**
* This method loads the configuration computed with mergeConfigurations() or explicitly added by addFilterConfig()
* to the CAN driver. Must be called after computeConfiguration() and addFilterConfig().
*/
int16_t applyConfiguration();
/**
* 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.
*/
const MultisetConfigContainer& getConfiguration() const
{
libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp
+61 -34
View File
@@ -16,24 +16,22 @@ const unsigned CanAcceptanceFilterConfigurator::DefaultAnonMsgID;
int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration(AnonymousMessages load_mode)
{
multiset_configs_.clear();
if (load_mode == AcceptAnonymousMessages)
{
CanFilterConfig anon_frame_cfg;
anon_frame_cfg.id = DefaultAnonMsgID;
anon_frame_cfg.mask = DefaultAnonMsgMask;
anon_frame_cfg.id = DefaultAnonMsgID | CanFrame::FlagEFF;
anon_frame_cfg.mask = DefaultAnonMsgMask | CanFrame::FlagEFF | CanFrame::FlagRTR | CanFrame::FlagERR;
if (multiset_configs_.emplace(anon_frame_cfg) == NULL)
{
return -ErrMemory;
}
}
CanFilterConfig service_resp_cfg;
service_resp_cfg.id = DefaultFilterServiceID;
service_resp_cfg.id |= static_cast<uint32_t>(node_.getNodeID().get()) << 8;
service_resp_cfg.mask = DefaultFilterServiceMask;
if (multiset_configs_.emplace(service_resp_cfg) == NULL)
CanFilterConfig service_cfg;
service_cfg.id = DefaultFilterServiceID;
service_cfg.id |= (static_cast<uint32_t>(node_.getNodeID().get()) << 8) | CanFrame::FlagEFF;
service_cfg.mask = DefaultFilterServiceMask | CanFrame::FlagEFF | CanFrame::FlagRTR | CanFrame::FlagERR;
if (multiset_configs_.emplace(service_cfg) == NULL)
{
return -ErrMemory;
}
@@ -42,8 +40,8 @@ int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration(AnonymousMessage
while (p != NULL)
{
CanFilterConfig cfg;
cfg.id = static_cast<uint32_t>(p->getDataTypeDescriptor().getID().get()) << 8;
cfg.mask = DefaultFilterMsgMask;
cfg.id = (static_cast<uint32_t>(p->getDataTypeDescriptor().getID().get()) << 8) | CanFrame::FlagEFF;
cfg.mask = DefaultFilterMsgMask | CanFrame::FlagEFF | CanFrame::FlagRTR | CanFrame::FlagERR;
if (multiset_configs_.emplace(cfg) == NULL)
{
return -ErrMemory;
@@ -56,20 +54,10 @@ int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration(AnonymousMessage
return -ErrLogic;
}
#if UAVCAN_DEBUG
for (uint16_t i = 0; i < multiset_configs_.getSize(); i++)
{
UAVCAN_TRACE("CanAcceptanceFilterConfigurator::loadInputConfiguration()", "cfg.ID [%u] = %d", i,
multiset_configs_.getByIndex(i)->id);
UAVCAN_TRACE("CanAcceptanceFilterConfigurator::loadInputConfiguration()", "cfg.MK [%u] = %d", i,
multiset_configs_.getByIndex(i)->mask);
}
#endif
return 0;
}
int16_t CanAcceptanceFilterConfigurator::computeConfiguration()
int16_t CanAcceptanceFilterConfigurator::mergeConfigurations()
{
const uint16_t acceptance_filters_number = getNumFilters();
if (acceptance_filters_number == 0)
@@ -115,12 +103,27 @@ int16_t CanAcceptanceFilterConfigurator::computeConfiguration()
int16_t CanAcceptanceFilterConfigurator::applyConfiguration(void)
{
CanFilterConfig filter_conf_array[MaxCanAcceptanceFilters];
const unsigned int filter_array_size = multiset_configs_.getSize();
unsigned int filter_array_size = multiset_configs_.getSize();
const uint16_t acceptance_filters_number = getNumFilters();
if (acceptance_filters_number == 0)
{
UAVCAN_TRACE("CanAcceptanceFilter", "No HW filters available");
return -ErrDriver;
}
if (filter_array_size > acceptance_filters_number)
{
UAVCAN_TRACE("CanAcceptanceFilter", "Too many filter configurations. Executing computeConfiguration()");
computeConfiguration(IgnoreAnonymousMessages);
filter_array_size = multiset_configs_.getSize();
}
if (filter_array_size > MaxCanAcceptanceFilters)
{
UAVCAN_ASSERT(0);
return -ErrLogic;
UAVCAN_TRACE("CanAcceptanceFilter", "Failed to apply HW filter configuration");
}
for (uint16_t i = 0; i < filter_array_size; i++)
@@ -130,6 +133,16 @@ int16_t CanAcceptanceFilterConfigurator::applyConfiguration(void)
filter_conf_array[i] = temp_filter_config;
}
#if UAVCAN_DEBUG
for (uint16_t i = 0; i < multiset_configs_.getSize(); i++)
{
UAVCAN_TRACE("CanAcceptanceFilterConfigurator::applyConfiguration()", "cfg.ID [%u] = %u", i,
multiset_configs_.getByIndex(i)->id);
UAVCAN_TRACE("CanAcceptanceFilterConfigurator::applyConfiguration()", "cfg.MK [%u] = %u", i,
multiset_configs_.getByIndex(i)->mask);
}
#endif
ICanDriver& can_driver = node_.getDispatcher().getCanIOManager().getCanDriver();
for (uint8_t i = 0; i < node_.getDispatcher().getCanIOManager().getNumIfaces(); i++)
{
@@ -137,19 +150,21 @@ int16_t CanAcceptanceFilterConfigurator::applyConfiguration(void)
if (iface == NULL)
{
return -ErrDriver;
UAVCAN_TRACE("CanAcceptanceFilter", "Failed to apply HW filter configuration");
}
int16_t num = iface->configureFilters(reinterpret_cast<CanFilterConfig*>(&filter_conf_array),
static_cast<uint16_t>(filter_array_size));
if (num < 0)
{
return -ErrDriver;
UAVCAN_TRACE("CanAcceptanceFilter", "Failed to apply HW filter configuration");
}
}
return 0;
}
int CanAcceptanceFilterConfigurator::configureFilters(AnonymousMessages mode)
int CanAcceptanceFilterConfigurator::computeConfiguration(AnonymousMessages mode)
{
if (getNumFilters() == 0)
{
@@ -164,17 +179,11 @@ int CanAcceptanceFilterConfigurator::configureFilters(AnonymousMessages mode)
return fill_array_error;
}
int16_t compute_configuration_error = computeConfiguration();
if (compute_configuration_error != 0)
int16_t merge_configurations_error = mergeConfigurations();
if (merge_configurations_error != 0)
{
UAVCAN_TRACE("CanAcceptanceFilter", "Failed to compute optimal acceptance fliter's configuration");
return compute_configuration_error;
}
if (applyConfiguration() != 0)
{
UAVCAN_TRACE("CanAcceptanceFilter", "Failed to apply HW filter configuration");
return -ErrDriver;
return merge_configurations_error;
}
return 0;
@@ -182,8 +191,10 @@ int CanAcceptanceFilterConfigurator::configureFilters(AnonymousMessages mode)
uint16_t CanAcceptanceFilterConfigurator::getNumFilters() const
{
if (filters_number_ == 0)
{
static const uint16_t InvalidOut = 0xFFFF;
uint16_t out = InvalidOut;
uint16_t out = InvalidOut;
ICanDriver& can_driver = node_.getDispatcher().getCanIOManager().getCanDriver();
for (uint8_t i = 0; i < node_.getDispatcher().getCanIOManager().getNumIfaces(); i++)
@@ -204,6 +215,22 @@ uint16_t CanAcceptanceFilterConfigurator::getNumFilters() const
}
return (out == InvalidOut) ? 0 : out;
}
else
{
return filters_number_;
}
}
int16_t CanAcceptanceFilterConfigurator::addFilterConfig(const CanFilterConfig& config)
{
CanFilterConfig supl_config = config;
if (multiset_configs_.emplace(supl_config) == NULL)
{
return -ErrMemory;
}
return 0;
}
CanFilterConfig CanAcceptanceFilterConfigurator::mergeFilters(CanFilterConfig& a_, CanFilterConfig& b_)
libuavcan/test/transport/can_acceptance_filter_configurator.cpp
+75 -34
View File
@@ -123,21 +123,49 @@ TEST(CanAcceptanceFilter, Basic_test)
sub_6.start(listener_6.bindExtended());
sub_6_1.start(listener_6.bindExtended());
server.start(writeServiceServerCallback);
std::cout << "Subscribers are initialized ..." << std::endl;
std::cout << "Subscribers are initialized." << std::endl;
uavcan::CanAcceptanceFilterConfigurator anon_test_configuration(node, 10);
uavcan::CanAcceptanceFilterConfigurator anon_test_configuration(node);
int configure_filters_assert = anon_test_configuration.configureFilters();
if (configure_filters_assert == 0)
{
std::cout << "Filters are configured with anonymous configuration..." << std::endl;
}
uavcan::CanFilterConfig aux_config_1, aux_config_2;
aux_config_1.id = 0;
aux_config_1.mask = 1488;
aux_config_2.id = 24;
aux_config_2.mask = 72;
int configure_filters_assert;
configure_filters_assert = anon_test_configuration.addFilterConfig(aux_config_1);
ASSERT_EQ(configure_filters_assert, 0);
configure_filters_assert = anon_test_configuration.addFilterConfig(aux_config_2);
ASSERT_EQ(configure_filters_assert, 0);
configure_filters_assert = anon_test_configuration.computeConfiguration();
ASSERT_EQ(configure_filters_assert, 0);
std::cout << "Filters are calculated with anonymous configuration." << std::endl;
const auto& configure_array = anon_test_configuration.getConfiguration();
uint32_t configure_array_size = configure_array.getSize();
std::cout << "Number of configs after first time computeConfiguration() invoked: "
<< configure_array_size << std::endl;
ASSERT_EQ(configure_array_size, 10);
std::cout << "Adding two additional configurations ... " << std::endl;
aux_config_2.id = 999999;
aux_config_2.mask = 849128412;
configure_filters_assert = anon_test_configuration.addFilterConfig(aux_config_1);
ASSERT_EQ(configure_filters_assert, 0);
ASSERT_EQ(configure_array_size, 4);
configure_filters_assert = anon_test_configuration.addFilterConfig(aux_config_2);
ASSERT_EQ(configure_filters_assert, 0);
configure_array_size = configure_array.getSize();
std::cout << "New configuration anon_container size: " << configure_array_size << std::endl;
ASSERT_EQ(configure_array_size, 12);
std::cout << "Applying configuration ... " << std::endl;
configure_filters_assert = anon_test_configuration.applyConfiguration();
ASSERT_EQ(configure_filters_assert, 0);
std::cout << "Filters are configured." << std::endl;
configure_array_size = configure_array.getSize();
std::cout << "Final configuration anon_container size: " << configure_array_size << std::endl;
ASSERT_EQ(configure_array_size, 10);
for (uint16_t i = 0; i<configure_array_size; i++)
{
@@ -145,42 +173,55 @@ TEST(CanAcceptanceFilter, Basic_test)
std::cout << "config.MK [" << i << "]= " << configure_array.getByIndex(i)->mask << std::endl;
}
ASSERT_EQ(configure_array.getByIndex(0)->id, 256000);
ASSERT_EQ(configure_array.getByIndex(0)->mask, 16771968);
ASSERT_EQ(configure_array.getByIndex(1)->id, 0);
ASSERT_EQ(configure_array.getByIndex(1)->mask, 255);
ASSERT_EQ(configure_array.getByIndex(2)->id, 6272);
ASSERT_EQ(configure_array.getByIndex(2)->mask, 32640);
ASSERT_EQ(configure_array.getByIndex(3)->id, 262144);
ASSERT_EQ(configure_array.getByIndex(3)->mask, 16771200);
ASSERT_EQ(configure_array.getByIndex(0)->id, 2147489920);
ASSERT_EQ(configure_array.getByIndex(0)->mask, 3758129024);
ASSERT_EQ(configure_array.getByIndex(1)->id, 2147739648);
ASSERT_EQ(configure_array.getByIndex(1)->mask, 3774868352);
ASSERT_EQ(configure_array.getByIndex(2)->id, 0);
ASSERT_EQ(configure_array.getByIndex(2)->mask, 1488);
ASSERT_EQ(configure_array.getByIndex(3)->id, 999999);
ASSERT_EQ(configure_array.getByIndex(3)->mask, 849128412);
ASSERT_EQ(configure_array.getByIndex(4)->id, 2147745792);
ASSERT_EQ(configure_array.getByIndex(4)->mask, 3774872704);
ASSERT_EQ(configure_array.getByIndex(5)->id, 2147489920);
ASSERT_EQ(configure_array.getByIndex(5)->mask, 3758129024);
ASSERT_EQ(configure_array.getByIndex(6)->id, 2147745792);
ASSERT_EQ(configure_array.getByIndex(6)->mask, 3774868352);
ASSERT_EQ(configure_array.getByIndex(7)->id, 0);
ASSERT_EQ(configure_array.getByIndex(7)->mask, 1488);
ASSERT_EQ(configure_array.getByIndex(8)->id, 24);
ASSERT_EQ(configure_array.getByIndex(8)->mask, 72);
ASSERT_EQ(configure_array.getByIndex(9)->id, 2147483648);
ASSERT_EQ(configure_array.getByIndex(9)->mask, 3758096639);
uavcan::CanAcceptanceFilterConfigurator no_anon_test_confiruration(node);
configure_filters_assert = no_anon_test_confiruration.configureFilters
uavcan::CanAcceptanceFilterConfigurator no_anon_test_confiruration(node, 4);
configure_filters_assert = no_anon_test_confiruration.computeConfiguration
(uavcan::CanAcceptanceFilterConfigurator::IgnoreAnonymousMessages);
if (configure_filters_assert == 0)
{
std::cout << "Filters are configured without anonymous configuration..." << std::endl;
}
ASSERT_EQ(configure_filters_assert, 0);
std::cout << "Filters are configured without anonymous configuration." << std::endl;
configure_filters_assert = no_anon_test_confiruration.applyConfiguration();
ASSERT_EQ(configure_filters_assert, 0);
std::cout << "Filters are configured without anonymous configuration." << std::endl;
const auto& configure_array_2 = no_anon_test_confiruration.getConfiguration();
configure_array_size = configure_array_2.getSize();
ASSERT_EQ(configure_filters_assert, 0);
ASSERT_EQ(configure_array_size, 4);
for (uint16_t i = 0; i<configure_array_size; i++)
{
std::cout << "config.ID [" << i << "]= " << configure_array_2.getByIndex(i)->id << std::endl;
std::cout << "config.MK [" << i << "]= " << configure_array_2.getByIndex(i)->mask << std::endl;
std::cout << "config.ID [" << i << "] = " << configure_array_2.getByIndex(i)->id << std::endl;
std::cout << "config.MK [" << i << "] = " << configure_array_2.getByIndex(i)->mask << std::endl;
}
ASSERT_EQ(configure_array_2.getByIndex(0)->id, 256000);
ASSERT_EQ(configure_array_2.getByIndex(0)->mask, 16771968);
ASSERT_EQ(configure_array_2.getByIndex(1)->id, 262144);
ASSERT_EQ(configure_array_2.getByIndex(1)->mask, 16776320);
ASSERT_EQ(configure_array_2.getByIndex(2)->id, 6272);
ASSERT_EQ(configure_array_2.getByIndex(2)->mask, 32640);
ASSERT_EQ(configure_array_2.getByIndex(3)->id, 262144);
ASSERT_EQ(configure_array_2.getByIndex(3)->mask, 16771968);
ASSERT_EQ(configure_array_2.getByIndex(0)->id, 2147739648);
ASSERT_EQ(configure_array_2.getByIndex(0)->mask, 3774868352);
ASSERT_EQ(configure_array_2.getByIndex(1)->id, 2147745792);
ASSERT_EQ(configure_array_2.getByIndex(1)->mask, 3774872704);
ASSERT_EQ(configure_array_2.getByIndex(2)->id, 2147489920);
ASSERT_EQ(configure_array_2.getByIndex(2)->mask, 3758129024);
ASSERT_EQ(configure_array_2.getByIndex(3)->id, 2147745792);
ASSERT_EQ(configure_array_2.getByIndex(3)->mask, 3774868352);
}
#endif
libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp
+48 -11
View File
@@ -148,6 +148,9 @@ class SocketCanIface : public uavcan::ICanIface
std::queue<RxItem> rx_queue_; // TODO: Use pool allocator
std::unordered_multiset<std::uint32_t> pending_loopback_ids_; // TODO: Use pool allocator
std::vector<uavcan::CanFilterConfig> hw_filters_container_;
bool filters_configured_ = false;
void registerError(SocketCanError e) { errors_[e]++; }
void incrementNumFramesInSocketTxQueue()
@@ -301,7 +304,17 @@ class SocketCanIface : public uavcan::ICanIface
if (accept)
{
rx.ts_utc += clock_.getPrivateAdjustment();
rx_queue_.push(rx);
if (filters_configured_)
{
if (checkHWFilters(rx.frame))
{
rx_queue_.push(rx);
}
}
else
{
rx_queue_.push(rx);
}
}
}
else if (res == 0)
@@ -315,6 +328,22 @@ class SocketCanIface : public uavcan::ICanIface
}
}
/**
* Returns true if a frame accepted by HW filters
*/
bool checkHWFilters(const uavcan::CanFrame frame)
{
uint16_t container_size = hw_filters_container_.size();
for (uint16_t i = 0; i < container_size; i++)
{
if (((frame.id & hw_filters_container_[i].mask) ^ hw_filters_container_[i].id) == 0)
{
return 1;
}
}
return 0;
}
public:
/**
* Takes ownership of socket's file descriptor.
@@ -404,38 +433,46 @@ public:
assert(0);
return -1;
}
std::vector< ::can_filter> filts(num_configs);
hw_filters_container_.clear();
hw_filters_container_.resize(num_configs);
for (unsigned i = 0; i < num_configs; i++)
{
const uavcan::CanFilterConfig& fc = filter_configs[i];
filts[i].can_id = fc.id & uavcan::CanFrame::MaskExtID;
filts[i].can_mask = fc.mask & uavcan::CanFrame::MaskExtID;
hw_filters_container_[i].id = fc.id & uavcan::CanFrame::MaskExtID;
hw_filters_container_[i].mask = fc.mask & uavcan::CanFrame::MaskExtID;
if (fc.id & uavcan::CanFrame::FlagEFF)
{
filts[i].can_id |= CAN_EFF_FLAG;
hw_filters_container_[i].id |= CAN_EFF_FLAG;
}
if (fc.id & uavcan::CanFrame::FlagRTR)
{
filts[i].can_id |= CAN_RTR_FLAG;
hw_filters_container_[i].id |= CAN_RTR_FLAG;
}
if (fc.mask & uavcan::CanFrame::FlagEFF)
{
filts[i].can_mask |= CAN_EFF_FLAG;
hw_filters_container_[i].mask |= CAN_EFF_FLAG;
}
if (fc.mask & uavcan::CanFrame::FlagRTR)
{
filts[i].can_mask |= CAN_RTR_FLAG;
hw_filters_container_[i].mask |= CAN_RTR_FLAG;
}
}
int ret = setsockopt(fd_, SOL_CAN_RAW, CAN_RAW_FILTER, filts.data(), sizeof(::can_filter) * num_configs);
return (ret < 0) ? -1 : 0;
if (! hw_filters_container_.empty())
{
filters_configured_ = true;
return 0;
}
return -1;
}
/**
* SocketCAN emulates the CAN filters in software, so the number of filters is virtually unlimited.
* This method returns a constant value.
*/
std::uint16_t getNumFilters() const override { return 255; }
std::uint16_t getNumFilters() const override { return 8; }
/**
* Returns total number of errors of each kind detected since the object was created.