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CanIOManager::send() unblocks as soon as the frame was transmitted, instead of waiting for the entire queue to flush

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This commit is contained in:
Pavel Kirienko 2014-02-06 12:40:59 +04:00
parent 805fea8234
commit cc991efdc6
2 changed files with 12 additions and 6 deletions
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4
libuavcan/src/transport/can_io.cpp
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@ -255,9 +255,9 @@ int CanIOManager::send(const CanFrame& frame, uint64_t monotonic_tx_deadline, ui
while (true)
{
int write_mask = iface_mask | makePendingTxMask();
if (write_mask == 0)
if (iface_mask == 0)
break;
int write_mask = iface_mask | makePendingTxMask();
const uint64_t timeout = getTimeUntilMonotonicDeadline(monotonic_blocking_deadline);
{

14
libuavcan/test/transport/can/io.cpp
View File

@ -363,15 +363,21 @@ TEST(CanIOManager, Transmission)
// Sending to #1, both writeable
driver.ifaces.at(0).writeable = true;
driver.ifaces.at(1).writeable = true;
EXPECT_LT(0, iomgr.send(frames[0], 999, 500, 2, CanTxQueue::PERSISTENT));
EXPECT_LT(0, iomgr.send(frames[0], 999, 500, 2, CanTxQueue::PERSISTENT)); // One frame per each iface will be sent
EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[1], 777)); // Note that frame[0] on iface #0 has expired
EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[2], 888));
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[0], 999)); // In different order due to prioritization
EXPECT_TRUE(driver.ifaces.at(0).tx.empty());
EXPECT_TRUE(driver.ifaces.at(1).tx.empty());
// Calling receive() to flush the rest two frames
uavcan::CanRxFrame dummy_rx_frame;
EXPECT_EQ(0, iomgr.receive(dummy_rx_frame, 0));
EXPECT_TRUE(driver.ifaces.at(0).matchAndPopTx(frames[2], 888));
EXPECT_TRUE(driver.ifaces.at(1).matchAndPopTx(frames[1], 777));
// Final checks
ASSERT_EQ(0, driver.ifaces.at(0).tx.size());
ASSERT_EQ(0, driver.ifaces.at(1).tx.size());
EXPECT_TRUE(driver.ifaces.at(0).tx.empty());
EXPECT_TRUE(driver.ifaces.at(1).tx.empty());
EXPECT_EQ(0, pool.getNumUsedBlocks()); // Make sure the memory was properly released
EXPECT_EQ(1, iomgr.getNumErrors(0)); // This is because of expired frame[0]
EXPECT_EQ(0, iomgr.getNumErrors(1));