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AP_HAL_Linux: CAN: _pollRead no more than 100 iterations 

This adds a counter here to only loop to a maximum number of iterations.
Now we avoid situations in which we would be stuck processing packets here.
This also adds some other meaningful defines
This commit is contained in:
Nikita Tomilov 2017-12-28 12:27:40 +03:00 committed by Tom Pittenger
parent 43bfcbc8e2
commit 3ac2e4e8c5
2 changed files with 9 additions and 3 deletions
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8
libraries/AP_HAL_Linux/CAN.cpp
View File

@ -263,7 +263,7 @@ int16_t CAN::configureFilters(const uavcan::CanFilterConfig* const filter_config
* SocketCAN emulates the CAN filters in software, so the number of filters is virtually unlimited.
* This method returns a constant value.
*/
static constexpr unsigned NumFilters = 8;
static constexpr unsigned NumFilters = CAN_FILTER_NUMBER;
uint16_t CAN::getNumFilters() const { return NumFilters; }
uint64_t CAN::getErrorCount() const
@ -301,8 +301,10 @@ void CAN::_pollWrite()
void CAN::_pollRead()
{
while (true)
uint8_t iterations_count = 0;
while (iterations_count < CAN_MAX_POLL_ITERATIONS_COUNT)
{
iterations_count++;
RxItem rx;
rx.ts_mono = getMonotonic(); // Monotonic timestamp is not required to be precise (unlike UTC)
bool loopback = false;
@ -462,7 +464,7 @@ bool CANManager::begin(uint32_t bitrate, uint8_t can_number)
// TODO: Limit number of times we try to init UAVCAN and also provide
// the reasonable actions when it fails.
for (UAVCAN_init_tries = 0; UAVCAN_init_tries < 100; UAVCAN_init_tries++) {
for (UAVCAN_init_tries = 0; UAVCAN_init_tries < CAN_MAX_INIT_TRIES_COUNT; UAVCAN_init_tries++) {
if (p_uavcan->try_init() == true) {
return true;
}

4
libraries/AP_HAL_Linux/CAN.h
View File

@ -56,6 +56,10 @@ enum class SocketCanError
TxTimeout
};
#define CAN_MAX_POLL_ITERATIONS_COUNT 100
#define CAN_MAX_INIT_TRIES_COUNT 100
#define CAN_FILTER_NUMBER 8
class CAN: public AP_HAL::CAN {
public:
CAN(int socket_fd=0)