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AP_Periph: detect dead interfaces in CAN transmit logic

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when an interface has not managed to send a packet for 2s then no
longer consider a failed send a reason to keep the packet in the
transmit queue
This commit is contained in:
Andrew Tridgell 2023-09-01 14:43:29 +10:00
parent 9afc30671f
commit 5c8a29b47e
1 changed files with 13 additions and 2 deletions
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13
Tools/AP_Periph/can.cpp
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@ -1101,7 +1101,8 @@ void AP_Periph_FW::processTx(void)
#endif
// push message with 1s timeout
bool sent = true;
const uint64_t deadline = AP_HAL::micros64() + 1000000;
const uint64_t now_us = AP_HAL::micros64();
const uint64_t deadline = now_us + 1000000U;
// try sending to all interfaces
for (auto &_ins : instances) {
if (_ins.iface == NULL) {
@ -1118,9 +1119,19 @@ void AP_Periph_FW::processTx(void)
}
#endif
if (_ins.iface->send(txmsg, deadline, 0) <= 0) {
/*
We were not able to queue the frame for
sending. Only mark the send as failing if the
interface is active. We consider an interface as
active if it has had a successful transmit in the
last 2 seconds
*/
const auto *stats = _ins.iface->get_statistics();
if (stats == nullptr || now_us - stats->last_transmit_us < 2000000UL) {
sent = false;
}
}
}
if (sent) {
canardPopTxQueue(&dronecan.canard);
dronecan.tx_fail_count = 0;