From 5c17356a75f6d48623e66d5ee0fdb441d7fe5c82 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Mon, 20 Jun 2016 09:09:39 +0000
Subject: [PATCH] Added an attribute to chnage the new packet update rate and
functions to handle it.
---
src/can/virtual_can.cpp | 16 +++++++++++++++-
src/can/virtual_can.h | 10 ++++++++++
src/examples/test_virtual_can_rx.cpp | 1 +
3 files changed, 26 insertions(+), 1 deletion(-)
diff --git a/src/can/virtual_can.cpp b/src/can/virtual_can.cpp
index 22e0f97..22d4440 100755
--- a/src/can/virtual_can.cpp
+++ b/src/can/virtual_can.cpp
@@ -27,6 +27,7 @@ CVirtualCAN::CVirtualCAN(const std::string &comm_id) : CComm(comm_id)
this->event_server->create_event(this->data_requested_event_id);
this->finish_can_thread_event_id=comm_id + "_finish_can_thread_event_id";
this->event_server->create_event(this->finish_can_thread_event_id);
+ this->update_rate_hz=1000;
}
void CVirtualCAN::hard_open(void *comm_dev)
@@ -94,7 +95,7 @@ int CVirtualCAN::hard_get_num_data(void)
int CVirtualCAN::hard_wait_comm_event(void)
{
- usleep(1000);// publish can packets at 1KHz
+ usleep(1000000/this->update_rate_hz);// publish can packets at 1KHz
return 1;
}
@@ -155,6 +156,19 @@ void CVirtualCAN::open(const std::string &dump_filename)
this->config();
}
+void CVirtualCAN::set_update_rate(double rate_hz)
+{
+ if(rate_hz<10.0 || rate_hz>10000.0)
+ throw CCommException(_HERE_,"Invalid update rate. Supported rate range between 10 Hz and 10 kHz.",this->comm_id);
+ else
+ this->update_rate_hz=rate_hz;
+}
+
+double CVirtualCAN::get_update_rate(void)
+{
+ return this->update_rate_hz;
+}
+
std::string CVirtualCAN::get_new_frame_event_id(void)
{
return this->new_frame_event_id;
diff --git a/src/can/virtual_can.h b/src/can/virtual_can.h
index 83283af..8eb81ec 100755
--- a/src/can/virtual_can.h
+++ b/src/can/virtual_can.h
@@ -46,6 +46,8 @@ class CVirtualCAN : protected CComm
struct can_filter *rx_filters;
unsigned int num_filters;
CMutex can_access;
+ // desired rate
+ double update_rate_hz;
protected:
/**
* \brief Function to actually open the device
@@ -198,6 +200,14 @@ class CVirtualCAN : protected CComm
* class.
*/
CVirtualCAN(const std::string &comm_id);
+ /**
+ * \brief
+ */
+ void set_update_rate(double rate_hz);
+ /**
+ * \brief
+ */
+ double get_update_rate(void);
/**
* \brief
*/
diff --git a/src/examples/test_virtual_can_rx.cpp b/src/examples/test_virtual_can_rx.cpp
index cb0943c..ec8e5fe 100755
--- a/src/examples/test_virtual_can_rx.cpp
+++ b/src/examples/test_virtual_can_rx.cpp
@@ -28,6 +28,7 @@ int main(int argc,char *argv[])
events.push_back(can_port.get_new_frame_event_id());
try{
can_port.open(dump_file);
+ can_port.set_update_rate(100);
can_port.add_id_filter(0x010,0x0F0,false);
while(1)
{
--
GitLab