diff options
Diffstat (limited to 'low-can-binding.cpp')
-rw-r--r-- | low-can-binding.cpp | 77 |
1 files changed, 1 insertions, 76 deletions
diff --git a/low-can-binding.cpp b/low-can-binding.cpp index 53517a6..b523e9d 100644 --- a/low-can-binding.cpp +++ b/low-can-binding.cpp @@ -48,81 +48,6 @@ */ static const struct afb_binding_interface *interface; -/******************************************************************************** -* -* CanBus method implementation -* -*********************************************************************************/ - -int CanBus::open() -{ - const int canfd_on = 1; - struct ifreq ifr; - struct timeval timeout = {1, 0}; - - DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket); - if (socket >= 0) - close(socket); - - socket = socket(PF_CAN, SOCK_RAW, CAN_RAW); - if (socket < 0) - { - ERROR(interface, "open_can_dev: socket could not be created"); - } - else - { - /* Set timeout for read */ - setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); - /* try to switch the socket into CAN_FD mode */ - if (setsockopt(socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0) - { - NOTICE(interface, "open_can_dev: Can not switch into CAN Extended frame format."); - is_fdmode_on = false; - } else { - is_fdmode_on = true; - } - - /* Attempts to open a socket to CAN bus */ - strcpy(ifr.ifr_name, device); - if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0) - ERROR(interface, "open_can_dev: ioctl failed"); - else - { - txAddress.can_family = AF_CAN; - txAddress.can_ifindex = ifr.ifr_ifindex; - - /* And bind it to txAddress */ - if (bind(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0) - { - ERROR(interface, "open_can_dev: bind failed"); - } - else - { - fcntl(socket, F_SETFL, O_NONBLOCK); - return 0; - } - } - close(socket); - socket = -1; - } - return -1; -} - -int CanBus::close() -{ - close(socket); - socket = -1; -} - -void CanBus::start_threads() -{ - std::queue <canfd_frame> canfd_frame_queue; - std::queue <openxc_can_message_type> can_message_queue; - - th_reading = std::thread(can_reader, interface, socket, canfd_frame_queue); - th_decoding = std::thread(can_decoder, interface, canfd_frame_queue, can_message_queue); - th_pushing = std::thread(can_event_push, interface, can_message_queue); -} /******************************************************************************** * @@ -305,7 +230,7 @@ int afbBindingV1ServiceInit(struct afb_service service) /* Open JSON conf file */ /* Open CAN socket */ - CanBus CanBus_handler; + CanBus_t CanBus_handler; CanBus_handler.open(); CanBus_handler.start_threads(); |