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AP_HAL_Linux: CAN: Rename Linux::LinuxCAN -> Linux::CAN

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This commit is contained in:
Nikita Tomilov 2017-12-28 12:01:46 +03:00 committed by Tom Pittenger
parent 8accfb97f6
commit d0fc481202
4 changed files with 48 additions and 48 deletions
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2
libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
View File

@ -168,7 +168,7 @@ void AP_BoardConfig_CAN::linux_setup_canbus(void) {
if (drv_num != 0 && drv_num <= MAX_NUMBER_OF_CAN_DRIVERS) {
if (hal.can_mgr[drv_num - 1] == nullptr) {
const_cast <AP_HAL::HAL&> (hal).can_mgr[drv_num - 1] = new Linux::LinuxCANDriver;
const_cast <AP_HAL::HAL&> (hal).can_mgr[drv_num - 1] = new Linux::CANDriver;
}
if (hal.can_mgr[drv_num - 1] != nullptr) {

70
libraries/AP_HAL_Linux/CAN.cpp
View File

@ -64,7 +64,7 @@ static uavcan::CanFrame makeUavcanFrame(const can_frame& sockcan_frame)
return uavcan_frame;
}
bool LinuxCAN::begin(uint32_t bitrate)
bool CAN::begin(uint32_t bitrate)
{
if (_initialized) return _initialized;
// TODO: Add possibility change bitrate
@ -78,7 +78,7 @@ bool LinuxCAN::begin(uint32_t bitrate)
return _initialized;
}
void LinuxCAN::reset()
void CAN::reset()
{
if (_initialized && _bitrate != 0) {
close(_fd);
@ -86,18 +86,18 @@ void LinuxCAN::reset()
}
}
void LinuxCAN::end()
void CAN::end()
{
_initialized = false;
close(_fd);
}
bool LinuxCAN::is_initialized()
bool CAN::is_initialized()
{
return _initialized;
}
int32_t LinuxCAN::tx_pending()
int32_t CAN::tx_pending()
{
if (_initialized) {
return _tx_queue.size();
@ -106,7 +106,7 @@ int32_t LinuxCAN::tx_pending()
}
}
int32_t LinuxCAN::available()
int32_t CAN::available()
{
if (_initialized) {
return _rx_queue.size();
@ -115,7 +115,7 @@ int32_t LinuxCAN::available()
}
}
int LinuxCAN::openSocket(const std::string& iface_name)
int CAN::openSocket(const std::string& iface_name)
{
errno = 0;
@ -179,7 +179,7 @@ int LinuxCAN::openSocket(const std::string& iface_name)
return ret;
}
int16_t LinuxCAN::send(const uavcan::CanFrame& frame, const uavcan::MonotonicTime tx_deadline,
int16_t CAN::send(const uavcan::CanFrame& frame, const uavcan::MonotonicTime tx_deadline,
const uavcan::CanIOFlags flags)
{
_tx_queue.emplace(frame, tx_deadline, flags, _tx_frame_counter);
@ -189,7 +189,7 @@ int16_t LinuxCAN::send(const uavcan::CanFrame& frame, const uavcan::MonotonicTim
return 1;
}
int16_t LinuxCAN::receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
int16_t CAN::receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags)
{
if (_rx_queue.empty()) {
@ -209,17 +209,17 @@ int16_t LinuxCAN::receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& ou
return 1;
}
bool LinuxCAN::hasReadyTx() const
bool CAN::hasReadyTx() const
{
return !_tx_queue.empty() && (_frames_in_socket_tx_queue < _max_frames_in_socket_tx_queue);
}
bool LinuxCAN::hasReadyRx() const
bool CAN::hasReadyRx() const
{
return !_rx_queue.empty();
}
void LinuxCAN::poll(bool read, bool write)
void CAN::poll(bool read, bool write)
{
if (read) {
_pollRead(); // Read poll must be executed first because it may decrement _frames_in_socket_tx_queue
@ -229,7 +229,7 @@ void LinuxCAN::poll(bool read, bool write)
}
}
int16_t LinuxCAN::configureFilters(const uavcan::CanFilterConfig* const filter_configs,
int16_t CAN::configureFilters(const uavcan::CanFilterConfig* const filter_configs,
const std::uint16_t num_configs)
{
if (filter_configs == nullptr) {
@ -264,16 +264,16 @@ int16_t LinuxCAN::configureFilters(const uavcan::CanFilterConfig* const filter_c
* This method returns a constant value.
*/
static constexpr unsigned NumFilters = 8;
uint16_t LinuxCAN::getNumFilters() const { return NumFilters; }
uint16_t CAN::getNumFilters() const { return NumFilters; }
uint64_t LinuxCAN::getErrorCount() const
uint64_t CAN::getErrorCount() const
{
uint64_t ec = 0;
for (auto& kv : _errors) { ec += kv.second; }
return ec;
}
void LinuxCAN::_pollWrite()
void CAN::_pollWrite()
{
while (hasReadyTx()) {
const TxItem tx = _tx_queue.top();
@ -299,7 +299,7 @@ void LinuxCAN::_pollWrite()
}
}
void LinuxCAN::_pollRead()
void CAN::_pollRead()
{
while (true)
{
@ -326,7 +326,7 @@ void LinuxCAN::_pollRead()
}
}
int LinuxCAN::_write(const uavcan::CanFrame& frame) const
int CAN::_write(const uavcan::CanFrame& frame) const
{
errno = 0;
@ -346,7 +346,7 @@ int LinuxCAN::_write(const uavcan::CanFrame& frame) const
}
int LinuxCAN::_read(uavcan::CanFrame& frame, uavcan::UtcTime& ts_utc, bool& loopback) const
int CAN::_read(uavcan::CanFrame& frame, uavcan::UtcTime& ts_utc, bool& loopback) const
{
auto iov = iovec();
auto sockcan_frame = can_frame();
@ -393,19 +393,19 @@ int LinuxCAN::_read(uavcan::CanFrame& frame, uavcan::UtcTime& ts_utc, bool& loop
return 1;
}
void LinuxCAN::_incrementNumFramesInSocketTxQueue()
void CAN::_incrementNumFramesInSocketTxQueue()
{
_frames_in_socket_tx_queue++;
}
void LinuxCAN::_confirmSentFrame()
void CAN::_confirmSentFrame()
{
if (_frames_in_socket_tx_queue > 0) {
_frames_in_socket_tx_queue--;
}
}
bool LinuxCAN::_wasInPendingLoopbackSet(const uavcan::CanFrame& frame)
bool CAN::_wasInPendingLoopbackSet(const uavcan::CanFrame& frame)
{
if (_pending_loopback_ids.count(frame.id) > 0) {
_pending_loopback_ids.erase(frame.id);
@ -414,7 +414,7 @@ bool LinuxCAN::_wasInPendingLoopbackSet(const uavcan::CanFrame& frame)
return false;
}
bool LinuxCAN::_checkHWFilters(const can_frame& frame) const
bool CAN::_checkHWFilters(const can_frame& frame) const
{
if (!_hw_filters_container.empty()) {
for (auto& f : _hw_filters_container) {
@ -428,7 +428,7 @@ bool LinuxCAN::_checkHWFilters(const can_frame& frame) const
}
}
void LinuxCANDriver::IfaceWrapper::updateDownStatusFromPollResult(const pollfd& pfd)
void CANDriver::IfaceWrapper::updateDownStatusFromPollResult(const pollfd& pfd)
{
if (!_down&& (pfd.revents & POLLERR)) {
int error = 0;
@ -441,7 +441,7 @@ void LinuxCANDriver::IfaceWrapper::updateDownStatusFromPollResult(const pollfd&
}
}
void LinuxCANDriver::_timer_tick()
void CANDriver::_timer_tick()
{
if (!_initialized) return;
@ -452,7 +452,7 @@ void LinuxCANDriver::_timer_tick()
}
}
bool LinuxCANDriver::begin(uint32_t bitrate, uint8_t can_number)
bool CANDriver::begin(uint32_t bitrate, uint8_t can_number)
{
if (init(can_number) >= 0) {
_initialized = true;
@ -476,32 +476,32 @@ bool LinuxCANDriver::begin(uint32_t bitrate, uint8_t can_number)
return false;
}
bool LinuxCANDriver::is_initialized()
bool CANDriver::is_initialized()
{
return _initialized;
}
void LinuxCANDriver::initialized(bool val)
void CANDriver::initialized(bool val)
{
_initialized = val;
}
AP_UAVCAN *LinuxCANDriver::get_UAVCAN(void)
AP_UAVCAN *CANDriver::get_UAVCAN(void)
{
return p_uavcan;
}
void LinuxCANDriver::set_UAVCAN(AP_UAVCAN *uavcan)
void CANDriver::set_UAVCAN(AP_UAVCAN *uavcan)
{
p_uavcan = uavcan;
}
LinuxCAN* LinuxCANDriver::getIface(uint8_t iface_index)
CAN* CANDriver::getIface(uint8_t iface_index)
{
return (iface_index >= _ifaces.size()) ? nullptr : _ifaces[iface_index].get();
}
int LinuxCANDriver::init(uint8_t can_number)
int CANDriver::init(uint8_t can_number)
{
int res = -1;
char iface_name[16];
@ -515,7 +515,7 @@ int LinuxCANDriver::init(uint8_t can_number)
return res;
}
int16_t LinuxCANDriver::select(uavcan::CanSelectMasks& inout_masks,
int16_t CANDriver::select(uavcan::CanSelectMasks& inout_masks,
const uavcan::CanFrame* (&)[uavcan::MaxCanIfaces],
uavcan::MonotonicTime blocking_deadline)
{
@ -590,14 +590,14 @@ int16_t LinuxCANDriver::select(uavcan::CanSelectMasks& inout_masks,
return _ifaces.size();
}
int LinuxCANDriver::addIface(const std::string& iface_name)
int CANDriver::addIface(const std::string& iface_name)
{
if (_ifaces.size() >= uavcan::MaxCanIfaces) {
return -1;
}
// Open the socket
const int fd = LinuxCAN::openSocket(iface_name);
const int fd = CAN::openSocket(iface_name);
if (fd < 0) {
return fd;
}

22
libraries/AP_HAL_Linux/CAN.h
View File

@ -56,14 +56,14 @@ enum class SocketCanError
TxTimeout
};
class LinuxCAN: public AP_HAL::CAN {
class CAN: public AP_HAL::CAN {
public:
LinuxCAN(int socket_fd=0)
CAN(int socket_fd=0)
: _fd(socket_fd)
, _frames_in_socket_tx_queue(0)
, _max_frames_in_socket_tx_queue(2)
{ }
~LinuxCAN() { }
~CAN() { }
bool begin(uint32_t bitrate) override;
@ -175,15 +175,15 @@ private:
std::vector<can_filter> _hw_filters_container;
};
class LinuxCANDriver: public AP_HAL::CANManager {
class CANDriver: public AP_HAL::CANManager {
public:
static LinuxCANDriver *from(AP_HAL::CANManager *can)
static CANDriver *from(AP_HAL::CANManager *can)
{
return static_cast<LinuxCANDriver*>(can);
return static_cast<CANDriver*>(can);
}
LinuxCANDriver() { _ifaces.reserve(uavcan::MaxCanIfaces); }
~LinuxCANDriver() { }
CANDriver() { _ifaces.reserve(uavcan::MaxCanIfaces); }
~CANDriver() { }
void _timer_tick();
@ -201,7 +201,7 @@ public:
//These methods belong to ICanDriver (which is an ancestor of AP_HAL::CANManager)
virtual LinuxCAN* getIface(uint8_t iface_index) override;
virtual CAN* getIface(uint8_t iface_index) override;
virtual uint8_t getNumIfaces() const override { return _ifaces.size(); }
@ -213,12 +213,12 @@ public:
int addIface(const std::string& iface_name);
private:
class IfaceWrapper : public LinuxCAN
class IfaceWrapper : public CAN
{
bool _down = false;
public:
IfaceWrapper(int fd) : LinuxCAN(fd) { }
IfaceWrapper(int fd) : CAN(fd) { }
void updateDownStatusFromPollResult(const pollfd& pfd);

2
libraries/AP_HAL_Linux/Scheduler.cpp
View File

@ -280,7 +280,7 @@ void Scheduler::_timer_task()
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
for (i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) {
if(hal.can_mgr[i] != nullptr) {
LinuxCANDriver::from(hal.can_mgr[i])->_timer_tick();
CANDriver::from(hal.can_mgr[i])->_timer_tick();
}
}
#endif