Objects of this class are owned by the sub-node thread. More...

#include <uavcan_virtual_can_driver.hpp>

Inheritance diagram for VirtualCanIface:

Collaboration diagram for VirtualCanIface:

Classes
struct	RxItem
	This class re-defines uavcan::RxCanFrame with flags. More...

Public Member Functions
	VirtualCanIface (uavcan::IPoolAllocator &allocator, uavcan::ISystemClock &clock, pthread_mutex_t &arg_mutex, unsigned quota_per_queue)

	~VirtualCanIface ()

void	addRxFrame (const uavcan::CanRxFrame &frame, uavcan::CanIOFlags flags)
	Note that RX queue overwrites oldest items when overflowed. More...

void	flushTxQueueTo (uavcan::INode &main_node, std::uint8_t iface_index)
	Call this from the main thread only. More...

bool	hasDataInRxQueue ()
	Call this from the sub-node thread only. More...

Private Member Functions
int16_t	send (const uavcan::CanFrame &frame, uavcan::MonotonicTime tx_deadline, uavcan::CanIOFlags flags) 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	configureFilters (const uavcan::CanFilterConfig *, std::uint16_t) override

uint16_t	getNumFilters () const override

uint64_t	getErrorCount () const override

Private Attributes
pthread_mutex_t &	common_driver_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 193 of file uavcan_virtual_can_driver.hpp.

Constructor & Destructor Documentation

◆ VirtualCanIface()

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

inline

Definition at line 256 of file uavcan_virtual_can_driver.hpp.

◆ ~VirtualCanIface()

VirtualCanIface::~VirtualCanIface ( )

inline

Definition at line 264 of file uavcan_virtual_can_driver.hpp.

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 273 of file uavcan_virtual_can_driver.hpp.

References Queue< T >::isEmpty(), MicroBenchHRT::lock(), Queue< T >::pop(), and Queue< T >::tryEmplace().

Here is the call graph for this function:

◆ configureFilters()

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

inlineoverrideprivate

Definition at line 251 of file uavcan_virtual_can_driver.hpp.

◆ 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 287 of file uavcan_virtual_can_driver.hpp.

References MicroBenchHRT::lock().

Here is the call graph for this function:

◆ getErrorCount()

uint64_t VirtualCanIface::getErrorCount ( ) const

inlineoverrideprivate

Definition at line 253 of file uavcan_virtual_can_driver.hpp.

◆ getNumFilters()

uint16_t VirtualCanIface::getNumFilters ( ) const

inlineoverrideprivate

Definition at line 252 of file uavcan_virtual_can_driver.hpp.

◆ hasDataInRxQueue()

bool VirtualCanIface::hasDataInRxQueue ( )

inline

Call this from the sub-node thread only.

No additional locking is required.

Definition at line 312 of file uavcan_virtual_can_driver.hpp.

References Queue< T >::isEmpty(), and MicroBenchHRT::lock().

Here is the call graph for this function:

◆ receive()

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