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serialqueue: Support sending messages over a CAN bus

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-02-07 16:03:39 -05:00
parent 9572ad4327
commit 8b4ad34e22
4 changed files with 80 additions and 30 deletions
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7
klippy/serialhdl.py
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@ -72,10 +72,11 @@ class SerialReader:
# Done
return identify_data
identify_data += msgdata
def _start_session(self, serial_dev):
def _start_session(self, serial_dev, serial_fd_type='u', client_id=0):
self.serial_dev = serial_dev
self.serialqueue = self.ffi_main.gc(
self.ffi_lib.serialqueue_alloc(serial_dev.fileno(), 0),
self.ffi_lib.serialqueue_alloc(serial_dev.fileno(),
serial_fd_type, client_id),
self.ffi_lib.serialqueue_free)
self.background_thread = threading.Thread(target=self._bg_thread)
self.background_thread.start()
@ -142,7 +143,7 @@ class SerialReader:
self.serial_dev = debugoutput
self.msgparser.process_identify(dictionary, decompress=False)
self.serialqueue = self.ffi_main.gc(
self.ffi_lib.serialqueue_alloc(self.serial_dev.fileno(), 1),
self.ffi_lib.serialqueue_alloc(self.serial_dev.fileno(), 'f', 0),
self.ffi_lib.serialqueue_free)
def set_clock_est(self, freq, last_time, last_clock):
self.ffi_lib.serialqueue_set_clock_est(