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AP_HAL: change IsMavCAN to IsForwardedFrame

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bugobliterator 2025-01-30 12:17:47 +11:00 committed by Peter Barker
parent 131c0f8e2d
commit 4bad4f856b
2 changed files with 13 additions and 9 deletions
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18
libraries/AP_HAL/CANIface.cpp
View File

@ -54,11 +54,12 @@ bool AP_HAL::CANFrame::priorityHigherThan(const CANFrame& rhs) const
} }
/* /*
parent class receive handling for MAVCAN parent class receive handling for forwarding received frames to registered callbacks
*/ */
int16_t AP_HAL::CANIface::receive(CANFrame& out_frame, uint64_t& out_ts_monotonic, CanIOFlags& out_flags) int16_t AP_HAL::CANIface::receive(CANFrame& out_frame, uint64_t& out_ts_monotonic, CanIOFlags& out_flags)
{ {
if ((out_flags & IsMAVCAN) != 0) { if ((out_flags & IsForwardedFrame) != 0) {
// this frame was forwarded from another interface to this one, so we should not forward it back
return 1; return 1;
} }
#ifndef HAL_BOOTLOADER_BUILD #ifndef HAL_BOOTLOADER_BUILD
@ -66,14 +67,15 @@ int16_t AP_HAL::CANIface::receive(CANFrame& out_frame, uint64_t& out_ts_monotoni
#endif #endif
for (auto &cb : callbacks.cb) { for (auto &cb : callbacks.cb) {
if (cb != nullptr) { if (cb != nullptr) {
cb(get_iface_num(), out_frame); // forward the frame to the registered callbacks and mark it as forwarded
cb(get_iface_num(), out_frame, out_flags | IsForwardedFrame);
} }
} }
return 1; return 1;
} }
/* /*
parent class send handling for MAVCAN parent class send handling for Forwarded frames
*/ */
int16_t AP_HAL::CANIface::send(const CANFrame& frame, uint64_t tx_deadline, CanIOFlags flags) int16_t AP_HAL::CANIface::send(const CANFrame& frame, uint64_t tx_deadline, CanIOFlags flags)
{ {
@ -85,13 +87,15 @@ int16_t AP_HAL::CANIface::send(const CANFrame& frame, uint64_t tx_deadline, CanI
if (cb == nullptr) { if (cb == nullptr) {
continue; continue;
} }
if ((flags & IsMAVCAN) == 0) { if ((flags & IsForwardedFrame) == 0) {
cb(get_iface_num(), frame); // call the frame callback from send only if the frame originated from this node
cb(get_iface_num(), frame, flags);
} else if (!added_to_rx_queue) { } else if (!added_to_rx_queue) {
// the frame was forwarded from another interface, so add it to the receive queue
CanRxItem rx_item; CanRxItem rx_item;
rx_item.frame = frame; rx_item.frame = frame;
rx_item.timestamp_us = AP_HAL::micros64(); rx_item.timestamp_us = AP_HAL::micros64();
rx_item.flags = AP_HAL::CANIface::IsMAVCAN; rx_item.flags = AP_HAL::CANIface::IsForwardedFrame;
add_to_rx_queue(rx_item); add_to_rx_queue(rx_item);
added_to_rx_queue = true; added_to_rx_queue = true;
} }

4
libraries/AP_HAL/CANIface.h
View File

@ -125,7 +125,7 @@ public:
typedef uint16_t CanIOFlags; typedef uint16_t CanIOFlags;
static const CanIOFlags Loopback = 1; static const CanIOFlags Loopback = 1;
static const CanIOFlags AbortOnError = 2; static const CanIOFlags AbortOnError = 2;
static const CanIOFlags IsMAVCAN = 4; static const CanIOFlags IsForwardedFrame = 4;
// Single Rx Frame with related info // Single Rx Frame with related info
struct CanRxItem { struct CanRxItem {
@ -259,7 +259,7 @@ public:
// return true if init was called and successful // return true if init was called and successful
virtual bool is_initialized() const = 0; virtual bool is_initialized() const = 0;
FUNCTOR_TYPEDEF(FrameCb, void, uint8_t, const AP_HAL::CANFrame &); FUNCTOR_TYPEDEF(FrameCb, void, uint8_t, const AP_HAL::CANFrame &, CanIOFlags);
// register a frame callback function // register a frame callback function
virtual bool register_frame_callback(FrameCb cb, uint8_t &cb_id); virtual bool register_frame_callback(FrameCb cb, uint8_t &cb_id);