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AP_CANManager: do select before sending passthrough message

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Siddharth Purohit 2021-03-26 22:20:44 +05:30 committed by Andrew Tridgell
parent cb118c6b73
commit d1dcfd91b5
1 changed files with 6 additions and 3 deletions
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9
libraries/AP_CANManager/AP_SLCANIface.cpp
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@ -688,9 +688,12 @@ 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) {
if (_can_iface->send(out_frame, AP_HAL::native_micros64() + 100000, out_flags) == 1) {
rx_queue_.pop();
num_tries = 0;
bool read = false;
bool write = true;
_can_iface->select(read, write, &out_frame, 0); // select without blocking
if (write && _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;