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SocketCanIface can maintain arbitrary number of frames pending in socket TX queue, which improves performance. By default, max_frames_in_socket_tx_queue = 3.

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This commit is contained in:
Pavel Kirienko
2014-03-31 17:57:01 +04:00
parent e8ee882379
commit eafdc82b4b
1 changed files with 32 additions and 7 deletions
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libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp
+32 -7
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@@ -41,6 +41,9 @@ enum class SocketCanError
* This approach allows to properly maintain TX timeouts (http://stackoverflow.com/questions/19633015/).
* TX timestamping is implemented by means of reading RX timestamps of loopback frames (see "TX timestamping" on
* linux-can mailing list, http://permalink.gmane.org/gmane.linux.can/5322).
*
* This class is too complex and needs to be refactored later. At least, basic socket IO and configuration
* should be extracted into a different class.
*/
class SocketCanIface : public uavcan::ICanIface
{
@@ -116,14 +119,36 @@ class SocketCanIface : public uavcan::ICanIface
const SystemClock clock_;
const int fd_;
const unsigned max_frames_in_socket_tx_queue_;
unsigned frames_in_socket_tx_queue_;
std::map<SocketCanError, std::uint64_t> errors_;
std::priority_queue<TxItem> tx_queue_; // TODO: Use pool allocator
std::priority_queue<RxItem> rx_queue_; // TODO: Use pool allocator
std::unordered_multiset<std::uint32_t> pending_loopback_ids_; // TODO: Use pool allocator
bool has_pending_write_;
void registerError(SocketCanError e) { errors_[e]++; }
void incrementNumFramesInSocketTxQueue()
{
assert(frames_in_socket_tx_queue_ < max_frames_in_socket_tx_queue_);
frames_in_socket_tx_queue_++;
}
void confirmSentFrame()
{
if (frames_in_socket_tx_queue_ > 0)
{
frames_in_socket_tx_queue_--;
}
else
{
assert(0); // Loopback for a frame that we didn't send.
}
}
bool wasInPendingLoopbackSet(const uavcan::CanFrame& frame)
{
if (pending_loopback_ids_.count(frame.id) > 0)
@@ -208,7 +233,7 @@ class SocketCanIface : public uavcan::ICanIface
void pollWrite()
{
while (!tx_queue_.empty() && !has_pending_write_)
while (!tx_queue_.empty() && (frames_in_socket_tx_queue_ < max_frames_in_socket_tx_queue_))
{
const TxItem tx = tx_queue_.top();
tx_queue_.pop();
@@ -218,7 +243,7 @@ class SocketCanIface : public uavcan::ICanIface
const int res = write(tx.frame);
if (res == 1)
{
has_pending_write_ = true;
incrementNumFramesInSocketTxQueue();
if (tx.flags & uavcan::CanIOFlagLoopback)
{
pending_loopback_ids_.insert(tx.frame.id);
@@ -250,7 +275,7 @@ class SocketCanIface : public uavcan::ICanIface
bool accept = true;
if (loopback) // We receive loopback for all CAN frames
{
has_pending_write_ = false;
confirmSentFrame();
rx.flags |= uavcan::CanIOFlagLoopback;
accept = wasInPendingLoopbackSet(rx.frame); // Do we need to send this loopback into the lib?
}
@@ -273,11 +298,11 @@ class SocketCanIface : public uavcan::ICanIface
public:
/**
* Takes ownership of socket's file descriptor.
* @param fd
*/
explicit SocketCanIface(int socket_fd)
explicit SocketCanIface(int socket_fd, int max_frames_in_socket_tx_queue = 3)
: fd_(socket_fd)
, has_pending_write_(false)
, max_frames_in_socket_tx_queue_(max_frames_in_socket_tx_queue)
, frames_in_socket_tx_queue_(0)
{
assert(fd_ >= 0);
}