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Linux SocketCAN: Fixed hasReadyTx() - now checking whether the driver will be ready to release further frames from the queue

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This commit is contained in:
Pavel Kirienko
2016-01-27 14:31:05 +03:00
parent f9a10b1a81
commit cbd36a4a5b
2 changed files with 13 additions and 10 deletions
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libuavcan_drivers/linux/apps/test_socket.cpp
+6 -6
View File
@@ -51,7 +51,7 @@ static void testSocketRxTx(const std::string& iface_name)
if1.poll(true, true);
if1.poll(true, true);
ENFORCE(0 == if1.getErrorCount());
ENFORCE(!if1.hasPendingTx());
ENFORCE(!if1.hasReadyTx());
ENFORCE(if1.hasReadyRx()); // Second loopback
/*
@@ -63,7 +63,7 @@ static void testSocketRxTx(const std::string& iface_name)
if2.poll(true, true);
if2.poll(true, true);
ENFORCE(1 == if2.getErrorCount()); // One timed out
ENFORCE(!if2.hasPendingTx());
ENFORCE(!if2.hasReadyTx());
ENFORCE(if2.hasReadyRx());
/*
@@ -101,7 +101,7 @@ static void testSocketRxTx(const std::string& iface_name)
ENFORCE((clock.getUtc() - ts_utc).getAbs().toMSec() < 10);
ENFORCE(0 == if1.receive(frame, ts_mono, ts_utc, flags));
ENFORCE(!if1.hasPendingTx());
ENFORCE(!if1.hasReadyTx());
ENFORCE(!if1.hasReadyRx());
/*
@@ -126,7 +126,7 @@ static void testSocketRxTx(const std::string& iface_name)
ENFORCE((clock.getUtc() - ts_utc).getAbs().toMSec() < 10);
ENFORCE(0 == if2.receive(frame, ts_mono, ts_utc, flags));
ENFORCE(!if2.hasPendingTx());
ENFORCE(!if2.hasReadyTx());
ENFORCE(!if2.hasReadyRx());
}
@@ -182,7 +182,7 @@ static void testSocketFilters(const std::string& iface_name)
if1.poll(true, true);
if2.poll(true, false);
}
ENFORCE(!if1.hasPendingTx());
ENFORCE(!if1.hasReadyTx());
ENFORCE(!if1.hasReadyRx());
ENFORCE(0 == if1.getErrorCount());
ENFORCE(if2.hasReadyRx());
@@ -290,7 +290,7 @@ static void testDriver(const std::vector<std::string>& iface_names)
ENFORCE((clock.getMonotonic() - ts_mono).getAbs().toMSec() < 10);
ENFORCE((clock.getUtc() - ts_utc).getAbs().toMSec() < 10);
ENFORCE(!driver.getIface(i)->hasPendingTx());
ENFORCE(!driver.getIface(i)->hasReadyTx());
ENFORCE(!driver.getIface(i)->hasReadyRx());
}
libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp
+7 -4
View File
@@ -268,7 +268,7 @@ class SocketCanIface : public uavcan::ICanIface
void pollWrite()
{
while (!tx_queue_.empty() && (frames_in_socket_tx_queue_ < max_frames_in_socket_tx_queue_))
while (hasReadyTx())
{
const TxItem tx = tx_queue_.top();
@@ -437,8 +437,11 @@ public:
}
}
bool hasPendingTx() const { return !tx_queue_.empty(); }
bool hasReadyRx() const { return !rx_queue_.empty(); }
bool hasReadyRx() const { return !rx_queue_.empty(); }
bool hasReadyTx() const
{
return !tx_queue_.empty() && (frames_in_socket_tx_queue_ < max_frames_in_socket_tx_queue_);
}
std::int16_t configureFilters(const uavcan::CanFilterConfig* const filter_configs,
const std::uint16_t num_configs) override
@@ -618,7 +621,7 @@ public:
for (unsigned i = 0; i < num_ifaces_; i++)
{
pollfds_[i].events = POLLIN;
if (ifaces_[i]->hasPendingTx() || (inout_masks.write & (1 << i)))
if (ifaces_[i]->hasReadyTx() || (inout_masks.write & (1 << i)))
{
pollfds_[i].events |= POLLOUT;
}