2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
4 * Author "Loic Collignon" <loic.collignon@iot.bzh>
6 * Licensed under the Apache License, Version 2.0 (the "License");
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
10 * http://www.apache.org/licenses/LICENSE-2.0
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
19 #include <linux/can.h>
20 #include <linux/can/raw.h>
22 #include <afb/afb-binding.h>
24 void can_reader(afb_binding_interface *interface, int socket, std::queue <CanMessage_t>& can_message_q)
28 CanMessage_t can_message;
30 /* Test that socket is really opened */
33 ERROR(interface, "read_can: Socket unavailable");
39 nbytes = read(socket, &canfd_frame, CANFD_MTU);
44 DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
45 maxdlen = CANFD_MAX_DLEN;
48 DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
49 maxdlen = CAN_MAX_DLEN;
52 if (errno == ENETDOWN)
53 ERROR(interface, "read_can: %s interface down", device);
55 ERROR(interface, "read_can: Error reading CAN bus");
61 if (parse_can_frame(can_message, &canfd_frame, maxdlen))
63 ERROR(interface, "read_can: Can't parse the can frame. ID: %i, DLC: %i, DATA: %s",
64 canfd_frame.can_id, canfd_frame.len, canfd_frame.data);
69 can_message.convert_canfd_frame_to_CanMessage(canfd_frame);
72 can_message_q.push(can_message);