Removed CAN interface code from get.cc
diff --git a/gyro_board/src/libusb-driver/get.cc b/gyro_board/src/libusb-driver/get.cc
index b50b9ea..311a834 100644
--- a/gyro_board/src/libusb-driver/get.cc
+++ b/gyro_board/src/libusb-driver/get.cc
@@ -28,52 +28,13 @@
// 0x82 Bulk IN endpoint with printf output.
// 0x05 Bulk OUT endpoint for stdin.
-bool can_frame_priority_comparator::operator() (
- const struct can_frame& x,
- const struct can_frame& y) const {
- // Error frames win first.
- if (x.can_id & CAN_EFF_FLAG) {
- return false;
- }
- if (y.can_id & CAN_EFF_FLAG) {
- return true;
- }
- // Extended frames send the first 11 bits out just like a standard frame.
- int x_standard_bits = (x.can_id & CAN_SFF_MASK);
- int y_standard_bits = (y.can_id & CAN_SFF_MASK);
- if (x_standard_bits == y_standard_bits) {
- // RTR wins next.
- bool x_rtr = (x.can_id & CAN_RTR_FLAG);
- bool y_rtr = (y.can_id & CAN_RTR_FLAG);
- if (x_rtr == y_rtr) {
- // Now check if it is an EFF packet.
- bool x_eff = (x.can_id & CAN_EFF_FLAG);
- bool y_eff = (y.can_id & CAN_EFF_FLAG);
- if (x_eff == y_eff) {
- // Now compare the bits in the extended frame.
- return (x.can_id & CAN_EFF_MASK) < (y.can_id & CAN_EFF_MASK);
- } else if (x_eff < y_eff) {
- return false;
- } else {
- return true;
- }
- } else if (x_rtr < y_rtr) {
- return true;
- } else {
- return false;
- }
- } else {
- return x_standard_bits < y_standard_bits;
- }
-}
-
class GyroDriver::PacketReceiver : public ::aos::util::Thread {
public:
// refusing to send any more frames.
static const int kMaxRXFrames = 128;
explicit PacketReceiver(LibUSBDeviceHandle *dev_handle)
- : Thread(), dev_handle_(dev_handle), rx_queue_(new can_priority_queue) {}
+ : Thread(), dev_handle_(dev_handle) {}
// Serve.
virtual void Run();
@@ -81,13 +42,8 @@
bool GetCanFrame(struct can_frame *msg);
private:
- typedef std::priority_queue<struct can_frame,
- std::vector<struct can_frame>,
- can_frame_priority_comparator> can_priority_queue;
-
LibUSBDeviceHandle *dev_handle_;
::aos::Mutex rx_mutex_;
- std::unique_ptr<can_priority_queue> rx_queue_;
};
GyroDriver::GyroDriver(LibUSBDeviceHandle *dev_handle)
diff --git a/gyro_board/src/libusb-driver/get.h b/gyro_board/src/libusb-driver/get.h
index 62462d3..b6840cc 100644
--- a/gyro_board/src/libusb-driver/get.h
+++ b/gyro_board/src/libusb-driver/get.h
@@ -10,24 +10,8 @@
#include "libusb_wrap.h"
-// Use a packed version of can_frame.
-// This allows for us to just transfer the data over the wire trivially.
-struct packed_can_frame {
- canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
- uint8_t can_dlc; /* data length code: 0 .. 8 */
- uint8_t data[8];
-} __attribute__((packed));
-
class DbgReader;
-// Compare function for CAN IDs.
-struct can_frame_priority_comparator
- : std::binary_function <struct can_frame,
- struct can_frame, bool> {
- bool operator() (const struct can_frame& x,
- const struct can_frame& y) const;
-};
-
class GyroDriver {
public:
// Constructs a GyroDriver.