diff options
Diffstat (limited to 'src/can_reader.cpp')
| -rw-r--r-- | src/can_reader.cpp | 39 |
1 files changed, 4 insertions, 35 deletions
diff --git a/src/can_reader.cpp b/src/can_reader.cpp index 6403cfa..8088937 100644 --- a/src/can_reader.cpp +++ b/src/can_reader.cpp @@ -23,44 +23,13 @@ #include "can-utils.h" -void can_reader(CanBus_c *can_bus)) +void can_reader(CanBus_t &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) + while(can_bus.is_running()) { - 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); + can_message.convert_from_canfd_frame(canbus.read()); + can_bus.insert_new_can_message(can_message); } }
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