OceanfromXiaomi commented on code in PR #17694:
URL: https://github.com/apache/nuttx/pull/17694#discussion_r2659482954
##########
drivers/can/can_sender.c:
##########
@@ -245,3 +245,86 @@ void can_send_done(FAR struct can_txcache_s *cd_sender)
}
#endif
}
+
+/****************************************************************************
+ * Name: can_txneed_cancel
+ *
+ * Description:
+ * Compare the msgID between tx_sending and tx_pending's head when
+ * dev_txready return false and tx_pending is not empty, preserve the node
+ * with largest msgID in tx_sending into *callbackmsg_node. return true if
+ * the msgID in tx_pending's head < the smallest msgID in tx_sending.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_CAN_TXCANCEL
+bool can_txneed_cancel(FAR struct can_txcache_s *cd_sender)
+{
+ FAR struct can_msg_node_s *msg_node;
+ FAR struct can_msg_node_s *tmp_node;
+
+ /* acquire min msgID from tx_sending and compare it with masgID
+ * in tx_pending list's head.
+ */
+
+ if (SENDING_COUNT(cd_sender) == 0)
+ {
+ return false;
+ }
+
+ msg_node = list_first_entry(&cd_sender->tx_pending,
+ struct can_msg_node_s, list);
+ tmp_node = list_first_entry(&cd_sender->tx_sending,
+ struct can_msg_node_s, list);
+ if (msg_node->msg.cm_hdr.ch_id < tmp_node->msg.cm_hdr.ch_id)
+ {
+ return true;
+ }
+
+ return false;
+}
+#endif
+
+/****************************************************************************
+ * Name: can_cancel_mbmsg
+ *
+ * Description:
+ * cancel the msg with the largest msgID in the mailbox and
+ * return true if success.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_CAN_TXCANCEL
+bool can_cancel_mbmsg(FAR struct can_dev_s *dev)
+{
+ FAR struct can_msg_node_s *tmp_node;
+ FAR struct can_msg_node_s *callbackmsg_node;
+ FAR struct can_txcache_s *cd_sender = &dev->cd_sender;
+
+ callbackmsg_node = list_last_entry(&cd_sender->tx_sending,
+ struct can_msg_node_s, list);
+ if (dev->cd_ops->co_cancel != NULL &&
+ dev_cancel(dev, &callbackmsg_node->msg))
Review Comment:
I will do these as follow:
`DEBUGASSERT(dev->cd_ops->co_cancel != NULL)`
...
```
if (dev_cancel(dev, &callbackmsg_node->msg))
{
...
return true;
}
return false;
```
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