src/can_reader.cpp

   1 /*
   2  * Copyright (C) 2015, 2016 "IoT.bzh"
   3  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   4  * Author "Loic Collignon" <loic.collignon@iot.bzh>
   5  *
   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
   9  *
  10  *       http://www.apache.org/licenses/LICENSE-2.0
  11  *
  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.
  17  */
  18
  19 #include <linux/can.h>
  20 #include <linux/can/raw.h>
  21
  22 #include <afb/afb-binding.h>
  23
  24 #include "can-utils.h"
  25
  26 void can_reader(CanBus_c *can_bus))
  27 {
  28         ssize_t nbytes;
  29         int maxdlen;
  30         CanMessage_c can_message;
  31         canfd_frame canfd_frame;
  32
  33         /* Test that socket is really opened */
  34         if ( can_bus->socket < 0)
  35         {
  36                 ERROR(interface, "read_can: Socket unavailable");
  37                 return -1;
  38         }
  39
  40         while(true)
  41         {
  42                 nbytes = read(can_bus->socket, &canfd_frame, CANFD_MTU);
  43
  44                 switch(nbytes)
  45                 {
  46                         case CANFD_MTU:
  47                                 DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
  48                                 maxdlen = CANFD_MAX_DLEN;
  49                                 break;
  50                         case CAN_MTU:
  51                                 DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
  52                                 maxdlen = CAN_MAX_DLEN;
  53                                 break;
  54                         default:
  55                                 if (errno == ENETDOWN)
  56                                         ERROR(interface, "read_can: %s interface down", device);
  57
  58                                 ERROR(interface, "read_can: Error reading CAN bus");
  59                                 return -2;
  60                 }
  61
  62                 can_message.convert_from_canfd_frame(canfd_frame);
  63
  64                 can_message_q.push(can_message);
  65         }
  66 }