Add .gitignore

[apps/agl-service-can-low-level.git] / can_reader.cpp

diff --git a/can_reader.cpp b/can_reader.cpp
index f5e2833..d9b3e67 100644 (file)
--- a/can_reader.cpp
+++ b/can_reader.cpp
@@ -7,7 +7,7 @@
  * 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
+ *      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,
@@ -21,49 +21,46 @@
 
 #include <afb/afb-binding.h>
 
-void can_reader(afb_binding_interface *interface, int socket, std::queue <canfd_frame>& canfd_frame_queue)
+#include "can-utils.h"
+
+void can_reader(CanBus_c *can_bus))
 {
-    ssize_t nbytes;
+       ssize_t nbytes;
        int maxdlen;
+       CanMessage_c can_message;
+       canfd_frame canfd_frame;
 
        /* Test that socket is really opened */
-       if ( socket < 0)
+       if ( can_bus->socket < 0)
        {
                ERROR(interface, "read_can: Socket unavailable");
                return -1;
        }
 
-    while(true)
-    {
-       nbytes = read(socket, &canfd_frame, CANFD_MTU);
+       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;
+               }
 
-        switch(nbytes)
-        {
-            case CANFD_MTU:s
-                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);
 
-        /* 
-         * TODO: thread handle
-        if (parse_can_frame(can_message, &canfd_frame, maxdlen))
-        {
-            ERROR(interface, "read_can: Can't parse the can frame. ID: %i, DLC: %i, DATA: %s", 
-            canfd_frame.can_id, canfd_frame.len, canfd_frame.data);
-            return -4;
-        }
-        */
-        canfd_frame_queue.push(canfd_frame);
-    }
+               can_message_q.push(can_message);
+       }
 }