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AP_CANManager: improve robustness of slcan passthrough under high rate

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This commit is contained in:
Siddharth Purohit 2021-03-12 23:43:53 +05:30 committed by Andrew Tridgell
parent 07313ae71d
commit cb118c6b73
2 changed files with 19 additions and 3 deletions
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21
libraries/AP_CANManager/AP_SLCANIface.cpp
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@ -666,16 +666,19 @@ int16_t SLCAN::CANIface::receive(AP_HAL::CANFrame& out_frame, uint64_t& rx_time,
// flush bytes from port
while (num_bytes--) {
int16_t ret = _port->read_locked(_serial_lock_key);
if (ret <= 0) {
if (ret < 0) {
break;
}
addByte(ret);
if (!rx_queue_.space()) {
break;
}
}
}
if (rx_queue_.available()) {
// if we already have something in buffer transmit it
CanRxItem frm;
if (!rx_queue_.pop(frm)) {
if (!rx_queue_.peek(frm)) {
return 0;
}
out_frame = frm.frame;
@ -685,7 +688,19 @@ int16_t SLCAN::CANIface::receive(AP_HAL::CANFrame& out_frame, uint64_t& rx_time,
// Also send this frame over can_iface when in passthrough mode,
// We just push this frame without caring for priority etc
if (_can_iface) {
_can_iface->send(out_frame, AP_HAL::native_micros64() + 1000, out_flags);
if (_can_iface->send(out_frame, AP_HAL::native_micros64() + 100000, out_flags) == 1) {
rx_queue_.pop();
num_tries = 0;
} else if (num_tries > 8) {
rx_queue_.pop();
num_tries = 0;
} else {
num_tries++;
}
} else {
// we just throw away frames if we don't
// have any can iface to pass through to
rx_queue_.pop();
}
return 1;
}

1
libraries/AP_CANManager/AP_SLCANIface.h
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@ -79,6 +79,7 @@ class CANIface: public AP_HAL::CANIface
int8_t _prev_ser_port;
int8_t _iface_num = -1;
uint32_t _last_had_activity;
uint8_t num_tries;
AP_HAL::CANIface* _can_iface; // Can interface to be used for interaction by SLCAN interface
HAL_Semaphore port_sem;
bool _set_by_sermgr;