AP_Scripting: Add filtering of incoming frames #25700
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IamPete1
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Dec 4, 2023
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| // Check if frame matches any filters | ||
| bool find = false; | ||
| for (int i=0;i<MAX_FILTERS;i++) { | ||
| if (filter_mask[i] == UINT32_MAX) { | ||
| break; | ||
| } | ||
| if ((frame.id & filter_mask[i]) == filter_value[i]) { | ||
| find = true; | ||
| break; | ||
| } | ||
| } |
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This should be down one level in the handle_frame method before we do buffer.push(frame);. Here it will filter everything so you could not have two different sets of filters on the same bus.
IamPete1
reviewed
Dec 4, 2023
| uint32_t filter_mask[MAX_FILTERS]; | ||
| uint32_t filter_value[MAX_FILTERS]; | ||
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| void add_filter(uint32_t mask, uint32_t value) { |
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this should return false if there are no more filters left.
IamPete1
reviewed
Dec 4, 2023
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| filter_mask[i] = UINT32_MAX; | ||
| filter_value[i] = UINT32_MAX; |
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Surely the default value would be zeros? Anything & 0 == 0, so it would pass everything?
|
Might also want a way to clear filters, although I guess you could just delete the object in the script and get a new one. |
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Add filters to the CAN buffer; mask is bitwise ANDed with the frame ID and compared to value if not match frame is not buffered
-- By default, no filters are added, and all frames are buffered, writing is not affected by filters
-- Maximum number of filters is 8
Usage : driver:add_filter(mask, value)
Why?