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Fix periodic can packets not being received properly (#1488)

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Constant calls would result in timeout, because a valid packet wasn't being returned early.

Also fix data copies (was copying in wrong direction).
This commit is contained in:
Thad House
2018-12-14 17:43:48 -08:00
committed by Peter Johnson
parent 41596608cc
commit 1823cb2b68
2 changed files with 27 additions and 8 deletions
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17
hal/src/main/native/athena/CANAPI.cpp
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@@ -196,6 +196,7 @@ void HAL_ReadCANPacketNew(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
auto& msg = can->receives[messageId];
msg.length = dataSize;
msg.lastTimeStamp = timestamp;
// The NetComm call placed in data, copy into the msg
std::memcpy(msg.data, data, dataSize);
}
*length = dataSize;
@@ -226,11 +227,13 @@ void HAL_ReadCANPacketLatest(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
*length = dataSize;
msg.lastTimeStamp = timestamp;
*receivedTimestamp = timestamp;
// The NetComm call placed in data, copy into the msg
std::memcpy(msg.data, data, dataSize);
} else {
auto i = can->receives.find(messageId);
if (i != can->receives.end()) {
std::memcpy(i->second.data, data, i->second.length);
// Read the data from the stored message into the output
std::memcpy(data, i->second.data, i->second.length);
*length = i->second.length;
*receivedTimestamp = i->second.lastTimeStamp;
*status = 0;
@@ -263,6 +266,7 @@ void HAL_ReadCANPacketTimeout(HAL_CANHandle handle, int32_t apiId,
*length = dataSize;
msg.lastTimeStamp = timestamp;
*receivedTimestamp = timestamp;
// The NetComm call placed in data, copy into the msg
std::memcpy(msg.data, data, dataSize);
} else {
auto i = can->receives.find(messageId);
@@ -275,7 +279,8 @@ void HAL_ReadCANPacketTimeout(HAL_CANHandle handle, int32_t apiId,
*status = HAL_CAN_TIMEOUT;
return;
}
std::memcpy(i->second.data, data, i->second.length);
// Read the data from the stored message into the output
std::memcpy(data, i->second.data, i->second.length);
*length = i->second.length;
*receivedTimestamp = i->second.lastTimeStamp;
*status = 0;
@@ -304,9 +309,11 @@ void HAL_ReadCANPeriodicPacket(HAL_CANHandle handle, int32_t apiId,
if (now - i->second.lastTimeStamp <
static_cast<uint64_t>(periodMs) * 1000) {
*status = 0;
std::memcpy(i->second.data, data, i->second.length);
// Read the data from the stored message into the output
std::memcpy(data, i->second.data, i->second.length);
*length = i->second.length;
*receivedTimestamp = i->second.lastTimeStamp;
return;
}
}
}
@@ -325,6 +332,7 @@ void HAL_ReadCANPeriodicPacket(HAL_CANHandle handle, int32_t apiId,
*length = dataSize;
msg.lastTimeStamp = timestamp;
*receivedTimestamp = timestamp;
// The NetComm call placed in data, copy into the msg
std::memcpy(msg.data, data, dataSize);
} else {
auto i = can->receives.find(messageId);
@@ -337,7 +345,8 @@ void HAL_ReadCANPeriodicPacket(HAL_CANHandle handle, int32_t apiId,
*status = HAL_CAN_TIMEOUT;
return;
}
std::memcpy(i->second.data, data, i->second.length);
// Read the data from the stored message into the output
std::memcpy(data, i->second.data, i->second.length);
*length = i->second.length;
*receivedTimestamp = i->second.lastTimeStamp;
*status = 0;