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AP_CANManager: add write_frame() to AP_CANSensor class

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This commit is contained in:
Tom Pittenger 2021-04-22 09:04:01 -07:00 committed by Tom Pittenger
parent a5708acaef
commit 5e2dbd93fc
2 changed files with 21 additions and 0 deletions
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18
libraries/AP_CANManager/AP_CANSensor.cpp
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@ -95,6 +95,24 @@ bool CANSensor::add_interface(AP_HAL::CANIface* can_iface)
return true;
}
bool CANSensor::write_frame(AP_HAL::CANFrame &out_frame, const uint64_t timeout_us)
{
if (!_initialized) {
debug_can(AP_CANManager::LOG_ERROR, "Driver not initialized for write_frame");
return false;
}
bool read_select = false;
bool write_select = true;
bool ret = _can_iface->select(read_select, write_select, &out_frame, AP_HAL::native_micros64() + timeout_us);
if (!ret || !write_select) {
return false;
}
uint64_t deadline = AP_HAL::native_micros64() + 2000000;
return (_can_iface->send(out_frame, deadline, AP_HAL::CANIface::AbortOnError) == 1);
}
void CANSensor::loop()
{
while (!hal.scheduler->is_system_initialized()) {

3
libraries/AP_CANManager/AP_CANSensor.h
View File

@ -36,6 +36,9 @@ public:
// handler for incoming frames
virtual void handle_frame(AP_HAL::CANFrame &frame) = 0;
// handler for outgoing frames
bool write_frame(AP_HAL::CANFrame &out_frame, const uint64_t timeout_us);
private:
void loop();