fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 07:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
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;
}