canio: Run background tasks while waiting for message reception

jepler · jepler · commit 371f166de112 · 2021-08-19T13:55:30.000-05:00
Closes: #5004
diff --git a/ports/esp32s2/common-hal/canio/Listener.c b/ports/esp32s2/common-hal/canio/Listener.c
@@ -151,6 +151,11 @@ mp_obj_t common_hal_canio_listener_receive(canio_listener_obj_t *self) {
             if (supervisor_ticks_ms64() > deadline) {
                 return NULL;
             }
+            RUN_BACKGROUND_TASKS;
+            // Allow user to break out of a timeout with a KeyboardInterrupt.
+            if (mp_hal_is_interrupted()) {
+                return NULL;
+            }
         } while (!common_hal_canio_listener_in_waiting(self));
     }
 

Original file line number	Diff line number	Diff line change
`@@ -151,6 +151,11 @@ mp_obj_t common_hal_canio_listener_receive(canio_listener_obj_t *self) {`
`151`	`151`	`if (supervisor_ticks_ms64() > deadline) {`
`152`	`152`	`return NULL;`
`153`	`153`	`}`
	`154`	`+ RUN_BACKGROUND_TASKS;`
	`155`	`+ // Allow user to break out of a timeout with a KeyboardInterrupt.`
	`156`	`+ if (mp_hal_is_interrupted()) {`
	`157`	`+ return NULL;`
	`158`	`+ }`
`154`	`159`	`} while (!common_hal_canio_listener_in_waiting(self));`
`155`	`160`	`}`
`156`	`161`