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);
+	}
+}