Change data_ member of can_message_t object

[apps/low-level-can-service.git] / src / can-bus.cpp

diff --git a/src/can-bus.cpp b/src/can-bus.cpp
index e15a304..989dfa2 100644 (file)
--- a/src/can-bus.cpp
+++ b/src/can-bus.cpp
@@ -279,6 +279,11 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
        has_vehicle_message_ = true;
 }
 
+std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices()
+{
+       return can_devices_m_;
+}
+
 /********************************************************************************
 *
 *              can_bus_dev_t method implementation
@@ -367,25 +372,14 @@ canfd_frame can_bus_dev_t::read()
 
        nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
 
-       switch(nbytes)
-       {
-               case CANFD_MTU:
-                       DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
-                       //maxdlen = CANFD_MAX_DLEN;
-                       break;
-               case CAN_MTU:
-                       DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
-                       //maxdlen = CAN_MAX_DLEN;
-                       break;
-               default:
-                       if (errno == ENETDOWN)
-                                       ERROR(binder_interface, "read_can: %s binder_interface down", device_name_);
-                       ERROR(binder_interface, "read_can: Error reading CAN bus");
-                       ::memset(&canfd_frame, 0, sizeof(canfd_frame));
-                       is_running_ = false;
-                       break;
-       }
-       
+       /* if we did not fit into CAN sized messages then stop_reading. */
+       if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
+               if (errno == ENETDOWN)
+                       ERROR(binder_interface, "read: %s CAN device down", device_name_);
+               ERROR(binder_interface, "read: Error reading CAN bus");
+               ::memset(&canfd_frame, 0, sizeof(canfd_frame));
+               stop_reading();
+
        return canfd_frame;
 }