fixup! fixup! feat(flexray): Add support for FlexRay via the Vector X…

…L library

src/gallia/commands/script/flexray.py

@@ -86,7 +86,6 @@ async def main(self, args: Namespace) -> None:
                 print(f"slot_id: {frame.slot_id:03d}; data: {frame.data.hex()}")
 
 
-
 class FRDumpConfig(Script):
     """Dump the flexray configuration as base64"""
 

src/gallia/transports/_ctypes_vector_xl.py

@@ -163,6 +163,7 @@ def check_rxtx_operation(result, function, arguments):  # type: ignore
             )
     return result
 
+
 def check_status_initialization(result, function, arguments):  # type: ignore
     if result > 0:
         raise VectorInitializationError(

src/gallia/transports/_ctypes_vector_xl_wrapper.py

@@ -26,7 +26,8 @@
 
 
 class FlexRayCtypesBackend:
-    def __init__(self, channel_mask: int, port_handle: int) -> None:
+    def __init__(self, channel_mask: int, port_handle: int, tx_sleep_time: float) -> None:
+        self.tx_sleep_time = tx_sleep_time
         self.channel_mask = channel_mask
         self.port_handle = port_handle
         self.queue: asyncio.Queue[_ctypes_vector_xl.XL_FR_RX_FRAME_EV] = asyncio.Queue()
@@ -37,6 +38,7 @@ def __init__(self, channel_mask: int, port_handle: int) -> None:
     def create(
         cls,
         channel_no: int | None,
+        tx_sleep_time: float = 0.05,
         rx_queue_size: int = 0x2000,
     ) -> Self:
         cls._enable_vector_license()
@@ -52,6 +54,7 @@ def create(
         return cls(
             channel_mask=channel_mask,
             port_handle=port_handle,
+            tx_sleep_time=tx_sleep_time,
         )
 
     def set_configuration(self, config: _ctypes_vector_xl.XLfrClusterConfig) -> None:
@@ -241,7 +244,6 @@ async def _receive_worker(self) -> None:
 
         try:
             while True:
-
                 poll_intervall = 100
 
                 logger.trace("poller waiting…")
@@ -299,7 +301,7 @@ async def transmit(self, slot_id: int, data: bytes) -> None:
             ctypes.c_ubyte * _ctypes_vector_xl.XL_FR_MAX_DATA_LENGTH
         ).from_buffer_copy(data)
 
-        await asyncio.sleep(0.2)
+        await asyncio.sleep(self.tx_sleep_time)
 
         await asyncio.to_thread(
             _ctypes_vector_xl.xlFrTransmit,

src/gallia/transports/flexray_vector.py

@@ -22,6 +22,7 @@
 
 class RawFlexRayConfig(BaseModel):
     rx_queue_size: int = 0x20000
+    tx_sleep_time: float = 0.05
     channel_no: int | None = None
 
     @field_validator(
@@ -55,6 +56,7 @@ def __init__(self, target: TargetURI) -> None:
         self.backend = _ctypes_vector_xl_wrapper.FlexRayCtypesBackend.create(
             channel_no=self.config.channel_no,
             rx_queue_size=self.config.rx_queue_size,
+            tx_sleep_time=self.config.tx_sleep_time,
         )
         self.backend.start_queue()
 
@@ -86,7 +88,6 @@ async def write_frame_unsafe(self, frame: FlexRayFrame) -> None:
 
     async def write_frame(self, frame: FlexRayFrame) -> None:
         async with self.mutex:
-            logger.warn(f"sending this to the lower layers: {frame}")
             await self.write_frame_unsafe(frame)
 
     async def write(