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Switches CtreCanNode to use locking and std::chrono for time (#909)

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This commit is contained in:
Thad House
2018-02-01 21:39:06 -08:00
committed by Peter Johnson
parent 64a7e57fe0
commit f720cbb121
2 changed files with 19 additions and 22 deletions
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36
hal/src/main/native/athena/ctre/CtreCanNode.cpp
View File

@@ -68,17 +68,13 @@ void CtreCanNode::UnregisterTx(uint32_t arbId)
_txJobs.erase(iter);
}
}
timespec diff(const timespec & start, const timespec & end)
{
timespec temp;
if ((end.tv_nsec-start.tv_nsec)<0) {
temp.tv_sec = end.tv_sec-start.tv_sec-1;
temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;
} else {
temp.tv_sec = end.tv_sec-start.tv_sec;
temp.tv_nsec = end.tv_nsec-start.tv_nsec;
}
return temp;
static int64_t GetTimeMs() {
std::chrono::time_point < std::chrono::system_clock > now;
now = std::chrono::system_clock::now();
auto duration = now.time_since_epoch();
auto millis = std::chrono::duration_cast < std::chrono::milliseconds
> (duration).count();
return (int64_t) millis;
}
CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
{
@@ -90,10 +86,11 @@ CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeout
if(timeoutMs > 999)
timeoutMs = 999;
FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
std::lock_guard<wpi::mutex> lock(_lck);
if(status == 0){
/* fresh update */
rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
clock_gettime(2,&r.time); /* fill in time */
r.time = GetTimeMs();
memcpy(r.bytes, dataBytes, 8); /* fill in databytes */
}else{
/* did not get the message */
@@ -107,16 +104,13 @@ CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeout
/* we've gotten this message before but not recently */
memcpy(dataBytes,i->second.bytes,8);
/* get the time now */
struct timespec temp;
clock_gettime(2,&temp); /* get now */
int64_t now = GetTimeMs(); /* get now */
/* how long has it been? */
temp = diff(i->second.time,temp); /* temp = now - last */
if(temp.tv_sec > 0){
retval = CTR_RxTimeout;
}else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
retval = CTR_RxTimeout;
}else {
/* our last update was recent enough */
int64_t temp = now - i->second.time; /* temp = now - last */
if (temp > ((int64_t) timeoutMs)) {
retval = CTR_RxTimeout;
} else {
/* our last update was recent enough */
}
}
}

5
hal/src/main/native/athena/ctre/CtreCanNode.h
View File

@@ -4,6 +4,7 @@
#include <map>
#include <string.h> // memcpy
#include <sys/time.h>
#include <support/mutex.h>
class CtreCanNode
{
public:
@@ -108,7 +109,7 @@ private:
class rxEvent_t{
public:
uint8_t bytes[8];
struct timespec time;
int64_t time;
rxEvent_t()
{
bytes[0] = 0;
@@ -127,5 +128,7 @@ private:
typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
rxRxEvents_t _rxRxEvents;
wpi::mutex _lck;
};
#endif