BUG corrected: when sending two packets one after the other very fast, the second...

[frescor/fna.git] / src_frescan / frescan_hw_buffer.c

diff --git a/src_frescan/frescan_hw_buffer.c b/src_frescan/frescan_hw_buffer.c
index 3608cf59e2ef8d5341cb41d8b6de4804d759acd5..bc66efb876635edfa4020a70acff3c5ff5ffaab3 100644 (file)
--- a/src_frescan/frescan_hw_buffer.c
+++ b/src_frescan/frescan_hw_buffer.c
@@ -72,8 +72,9 @@
 #include "frescan_hw_buffer.h"
 
 #include <string.h> // memcpy
+#include <assert.h>
 
-#include "frescan_data.h"    // the_networks
+#include "frescan_data.h"    // frescan_data
 #include "frescan_debug.h"   // DEBUG, FRESCAN_ERROR
 #include "frescan_servers.h" // frescan_servers_get_highest_prio
 #include "frescan_queues.h"  // frescan_pqueue_xxx, frescan_servers_dequeue
@@ -95,7 +96,7 @@ int frescan_hw_buffer_abort(frescan_network_t net)
 {
         int ret;
 
-        ret = ioctl(the_networks[net].fd, CAN_IOCTL_ABORT_FRAME, NULL);
+        ret = ioctl(frescan_data[net].fd, CAN_IOCTL_ABORT_FRAME, NULL);
         if (ret == -1) {
                 FRESCAN_ERROR ("could not abort the frame\n");
                 return -1;
@@ -124,12 +125,12 @@ int frescan_hw_buffer_update(frescan_network_t net)
         frescan_ss_t id;
 
         ret = frescan_servers_get_highest_prio(net, &id, &sprio);
-        if (ret != 0) return ret;
+        assert(ret == 0);
 
-        pqueue = the_networks[net].queues.tx_fp_queue;
+        pqueue = frescan_data[net].queues.tx_fp_queue;
 
         ret = frescan_pqueue_get_highest_prio(pqueue, &packet, &fprio);
-        if (ret != 0) return ret;
+        assert(ret == 0);
 
         if ((id == FRESCAN_MX_IDS) && (packet == NULL)) {
                 DEBUG(FRESCAN_HW_BUFFER_ENABLE_DEBUG, "(ss:0 fp:0)\n");
@@ -152,25 +153,28 @@ int frescan_hw_buffer_update(frescan_network_t net)
         }
 
         prio = (is_fp_highest_prio) ? fprio : sprio;
-        is_frame_in_chip = (the_networks[net].last_packet != NULL);
-
-        if (is_frame_in_chip &&
-           (prio > the_networks[net].last_packet_prio)) {
-                DEBUG(FRESCAN_HW_BUFFER_ENABLE_DEBUG,"abort frame\n");
-                ret = frescan_hw_buffer_abort(net);
-                if (ret != 0) {
-                        FRESCAN_ERROR ("could not abort frame\n");
-                        return ret;
+        is_frame_in_chip = (frescan_data[net].last_packet != NULL);
+
+        if (is_frame_in_chip) {
+                if (prio > frescan_data[net].last_packet_prio) {
+                        // TODO: if same server, dont abort
+                        DEBUG(FRESCAN_HW_BUFFER_ENABLE_DEBUG, "abort frame\n");
+                        ret = frescan_hw_buffer_abort(net);
+                        assert(ret == 0);
+                        return 0;
+                } else {
+                        DEBUG(FRESCAN_HW_BUFFER_ENABLE_DEBUG,
+                              "frame in chip with highest or equal prio\n");
+                        return 0;
                 }
-                return 0;
         }
 
         if (is_fp_highest_prio) {
                 ret = frescan_pqueue_dequeue(pqueue, &packet, &prio, 0);
-                if (ret != 0) return ret;
+                assert(ret == 0);
         } else {
                 ret = frescan_servers_dequeue(net, id, &packet, &prio);
-                if (ret != 0) return ret;
+                assert(ret == 0);
 
                 frescan_id_set_field(&packet->frame->id,
                                       FRESCAN_FIELD_PRIO,
@@ -194,8 +198,8 @@ int frescan_hw_buffer_update(frescan_network_t net)
         frescan_id_set_field
                         (&packet->frame->id, FRESCAN_FIELD_FRAG_FLAG, frag_flag);
 
-        the_networks[net].last_packet = packet;
-        the_networks[net].last_packet_prio = prio;
+        frescan_data[net].last_packet = packet;
+        frescan_data[net].last_packet_prio = prio;
 
         DEBUG(FRESCAN_HW_BUFFER_ENABLE_DEBUG,
               "frame->id:0x%X pend_bytes:%u dlc:%u fflag:%u\n",
@@ -204,7 +208,7 @@ int frescan_hw_buffer_update(frescan_network_t net)
               packet->frame->dlc,
               frag_flag);
 
-        ret = write(the_networks[net].fd,
+        ret = write(frescan_data[net].fd,
                     (void *)packet->frame,
                     sizeof(struct can_frame_t));