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authorRomain Forlot <romain.forlot@iot.bzh>2017-02-09 18:05:48 +0000
committerRomain Forlot <romain.forlot@iot.bzh>2017-02-09 18:05:48 +0000
commit8669985f9ab8821053bdaeadc08250c8c1e71d29 (patch)
tree044015d6c8908702bbf4c256a5fb5c3cd47f8165 /can_reader.cpp
parentf12c0a6976b72f2a660735703176e495b16f6ae3 (diff)
Re-implementation in C++ and separate threads to
read, decode and pushing on the event loop. Old code has been moved into obsolete directory. Change-Id: Ia389ab84a1dc566c48e0269f2466843de0e51158 Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
Diffstat (limited to 'can_reader.cpp')
-rw-r--r--can_reader.cpp69
1 files changed, 69 insertions, 0 deletions
diff --git a/can_reader.cpp b/can_reader.cpp
new file mode 100644
index 00000000..f5e2833e
--- /dev/null
+++ b/can_reader.cpp
@@ -0,0 +1,69 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loic Collignon" <loic.collignon@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#include <afb/afb-binding.h>
+
+void can_reader(afb_binding_interface *interface, int socket, std::queue <canfd_frame>& canfd_frame_queue)
+{
+ ssize_t nbytes;
+ int maxdlen;
+
+ /* Test that socket is really opened */
+ if ( socket < 0)
+ {
+ ERROR(interface, "read_can: Socket unavailable");
+ return -1;
+ }
+
+ while(true)
+ {
+ nbytes = read(socket, &canfd_frame, CANFD_MTU);
+
+ switch(nbytes)
+ {
+ case CANFD_MTU:s
+ DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
+ maxdlen = CANFD_MAX_DLEN;
+ break;
+ case CAN_MTU:
+ DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
+ maxdlen = CAN_MAX_DLEN;
+ break;
+ default:
+ if (errno == ENETDOWN)
+ ERROR(interface, "read_can: %s interface down", device);
+
+ ERROR(interface, "read_can: Error reading CAN bus");
+ return -2;
+ }
+
+ /*
+ * TODO: thread handle
+ if (parse_can_frame(can_message, &canfd_frame, maxdlen))
+ {
+ ERROR(interface, "read_can: Can't parse the can frame. ID: %i, DLC: %i, DATA: %s",
+ canfd_frame.can_id, canfd_frame.len, canfd_frame.data);
+ return -4;
+ }
+ */
+ canfd_frame_queue.push(canfd_frame);
+ }
+}