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);
+    }
+}