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FlexRay: Rework controller register reading for reliability

pull/25/head
Paul Hollinsky 2020-02-28 20:09:33 -05:00
parent 1cd817a16b
commit 8ae3317930
1 changed files with 18 additions and 7 deletions
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25
device/extensions/flexray/controller.cpp
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@ -593,23 +593,34 @@ uint16_t FlexRay::Controller::CalculateCycleFilter(uint8_t baseCycle, uint8_t cy
} }
std::pair<bool, uint32_t> FlexRay::Controller::readRegister(ERAYRegister reg, std::chrono::milliseconds timeout) const { std::pair<bool, uint32_t> FlexRay::Controller::readRegister(ERAYRegister reg, std::chrono::milliseconds timeout) const {
if(timeout.count() <= 0) if(timeout.count() <= 20)
return {false, 0}; // Out of time! return {false, 0}; // Out of time!
std::lock_guard<std::mutex> lk(readRegisterLock); std::lock_guard<std::mutex> lk(readRegisterLock);
device.com->sendCommand(Command::FlexRayControl, FlexRayControlMessage::BuildReadCCRegsArgs(index, uint16_t(reg)));
std::shared_ptr<FlexRayControlMessage> resp; std::shared_ptr<FlexRayControlMessage> resp;
const auto start = std::chrono::steady_clock::now(); std::chrono::steady_clock::time_point lastSent;
while((std::chrono::steady_clock::now() - start) < timeout) { do {
auto msg = device.com->waitForMessageSync(MessageFilter(icsneo::Network::NetID::FlexRayControl), timeout / 4); const auto waitTime = std::chrono::steady_clock::now();
auto msg = device.com->waitForMessageSync([this, &lastSent, &reg, &timeout]() {
if(timeout.count() < 20)
return true; // Might not have time to receive the response, so don't request
if(std::chrono::steady_clock::now() - lastSent < std::chrono::milliseconds(40))
return true; // Don't send too fast
if(!device.com->sendCommand(Command::FlexRayControl, FlexRayControlMessage::BuildReadCCRegsArgs(index, uint16_t(reg))))
return false; // Command failed to send
lastSent = std::chrono::steady_clock::now();
return true;
}, MessageFilter(icsneo::Network::NetID::FlexRayControl), timeout);
if(auto frmsg = std::dynamic_pointer_cast<FlexRayControlMessage>(msg)) { if(auto frmsg = std::dynamic_pointer_cast<FlexRayControlMessage>(msg)) {
if(frmsg->decoded && frmsg->controller == index && frmsg->opcode == FlexRay::Opcode::ReadCCRegs) if(frmsg->decoded && frmsg->controller == index && frmsg->opcode == FlexRay::Opcode::ReadCCRegs)
resp = frmsg; resp = frmsg;
} }
if(resp) if(resp)
break; break;
device.com->sendCommand(Command::FlexRayControl, FlexRayControlMessage::BuildReadCCRegsArgs(index, uint16_t(reg))); timeout -= std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::steady_clock::now() - waitTime);
} } while(timeout.count() > 0);
if(resp && !resp->registers.empty()) if(resp && !resp->registers.empty())
return {true, resp->registers[0]}; return {true, resp->registers[0]};
else else