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/*
* 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);
}
}
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