VirtualCanIface Class Reference

Inheritance diagram for VirtualCanIface:

Classes
struct	RxItem

Public Member Functions
void	addRxFrame (const uavcan::CanRxFrame &frame, uavcan::CanIOFlags flags)
void	flushTxQueueTo (uavcan::INode &main_node, std::uint8_t iface_index)
bool	hasDataInRxQueue () const
	VirtualCanIface (uavcan::IPoolAllocator &allocator, uavcan::ISystemClock &clock, std::mutex &arg_mutex, unsigned quota_per_queue)
Public Member Functions inherited from uavcan::ICanIface
virtual int16_t	receive (CanFrame &out_frame, MonotonicTime &out_ts_monotonic, UtcTime &out_ts_utc, CanIOFlags &out_flags)=0
virtual int16_t	send (const CanFrame &frame, MonotonicTime tx_deadline, CanIOFlags flags)=0
virtual	~ICanIface ()

Private Member Functions
int16_t	configureFilters (const uavcan::CanFilterConfig *, std::uint16_t) override
uint64_t	getErrorCount () const override
uint16_t	getNumFilters () const override
int16_t	receive (uavcan::CanFrame &out_frame, uavcan::MonotonicTime &out_ts_monotonic, uavcan::UtcTime &out_ts_utc, uavcan::CanIOFlags &out_flags) override
int16_t	send (const uavcan::CanFrame &frame, uavcan::MonotonicTime tx_deadline, uavcan::CanIOFlags flags) override
Private Member Functions inherited from uavcan::Noncopyable
	Noncopyable ()
	~Noncopyable ()

Private Attributes
std::mutex &	mutex_
uavcan::CanTxQueue	prioritized_tx_queue_
Queue< RxItem >	rx_queue_

Detailed Description

Objects of this class are owned by the sub-node thread. This class does not use heap memory.

Definition at line 140 of file test_multithreading.cpp.

Constructor & Destructor Documentation

VirtualCanIface()

VirtualCanIface::VirtualCanIface ( uavcan::IPoolAllocator &  allocator, uavcan::ISystemClock &  clock, std::mutex &  arg_mutex, unsigned  quota_per_queue  )

inline

Definition at line 191 of file test_multithreading.cpp.

Member Function Documentation

addRxFrame()

void VirtualCanIface::addRxFrame ( const uavcan::CanRxFrame &  frame, uavcan::CanIOFlags  flags  )

inline

Note that RX queue overwrites oldest items when overflowed. Call this from the main thread only. No additional locking is required.

Definition at line 203 of file test_multithreading.cpp.

configureFilters()

int16_t VirtualCanIface::configureFilters ( const uavcan::CanFilterConfig *  filter_configs, std::uint16_t  num_configs  )

inlineoverrideprivatevirtual

Configure the hardware CAN filters. CanFilterConfig.

Returns

0 = success, negative for error.

Implements uavcan::ICanIface.

Definition at line 186 of file test_multithreading.cpp.

flushTxQueueTo()

void VirtualCanIface::flushTxQueueTo ( uavcan::INode &  main_node, std::uint8_t  iface_index  )

inline

Call this from the main thread only. No additional locking is required.

Definition at line 217 of file test_multithreading.cpp.

getErrorCount()

uint64_t VirtualCanIface::getErrorCount ( ) const

inlineoverrideprivatevirtual

Continuously incrementing counter of hardware errors. Arbitration lost should not be treated as a hardware error.

Implements uavcan::ICanIface.

Definition at line 188 of file test_multithreading.cpp.

getNumFilters()

uint16_t VirtualCanIface::getNumFilters ( ) const

inlineoverrideprivatevirtual

Number of available hardware filters.

Implements uavcan::ICanIface.

Definition at line 187 of file test_multithreading.cpp.

hasDataInRxQueue()

bool VirtualCanIface::hasDataInRxQueue ( ) const

inline

Call this from the sub-node thread only. No additional locking is required.

Definition at line 242 of file test_multithreading.cpp.

receive()

int16_t VirtualCanIface::receive ( uavcan::CanFrame &  out_frame, uavcan::MonotonicTime &  out_ts_monotonic, uavcan::UtcTime &  out_ts_utc, uavcan::CanIOFlags &  out_flags  )

inlineoverrideprivate

Definition at line 165 of file test_multithreading.cpp.

send()

int16_t VirtualCanIface::send ( const uavcan::CanFrame &  frame, uavcan::MonotonicTime  tx_deadline, uavcan::CanIOFlags  flags  )

inlineoverrideprivate

Definition at line 158 of file test_multithreading.cpp.

Member Data Documentation

mutex_

std::mutex& VirtualCanIface::mutex_

private

Definition at line 154 of file test_multithreading.cpp.

prioritized_tx_queue_

uavcan::CanTxQueue VirtualCanIface::prioritized_tx_queue_

private

Definition at line 155 of file test_multithreading.cpp.

rx_queue_

Queue<RxItem> VirtualCanIface::rx_queue_

private

Definition at line 156 of file test_multithreading.cpp.

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The documentation for this class was generated from the following file:

• test_multithreading.cpp