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authorRomain Forlot <romain.forlot@iot.bzh>2017-02-14 14:32:55 +0100
committerRomain Forlot <romain.forlot@iot.bzh>2017-02-14 14:32:55 +0100
commitc2a2b12c1ec1a4e17a3c95ceb8f010ce961a909e (patch)
tree049a4cd7ebbbd2e8d6b4df3939b12e6303de805c /src/can_reader.cpp
parent3a24351bda1208281189d17850555c017a7d342b (diff)
Move sources into src directory
make some cleaning Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
Diffstat (limited to 'src/can_reader.cpp')
-rw-r--r--src/can_reader.cpp66
1 files changed, 66 insertions, 0 deletions
diff --git a/src/can_reader.cpp b/src/can_reader.cpp
new file mode 100644
index 00000000..d9b3e671
--- /dev/null
+++ b/src/can_reader.cpp
@@ -0,0 +1,66 @@
+/*
+ * 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>
+
+#include "can-utils.h"
+
+void can_reader(CanBus_c *can_bus))
+{
+ ssize_t nbytes;
+ int maxdlen;
+ CanMessage_c can_message;
+ canfd_frame canfd_frame;
+
+ /* Test that socket is really opened */
+ if ( can_bus->socket < 0)
+ {
+ ERROR(interface, "read_can: Socket unavailable");
+ return -1;
+ }
+
+ while(true)
+ {
+ nbytes = read(can_bus->socket, &canfd_frame, CANFD_MTU);
+
+ switch(nbytes)
+ {
+ case CANFD_MTU:
+ 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;
+ }
+
+ can_message.convert_from_canfd_frame(canfd_frame);
+
+ can_message_q.push(can_message);
+ }
+}