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git-svn-id: svn://db.shs.com.ru/pip@835 12ceb7fc-bf1f-11e4-8940-5bc7170c53b5

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Бычков Андрей
2019-07-31 15:45:38 +00:00
parent e903798431
commit 0e153f12ca
1 changed files with 5 additions and 1 deletions
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6
src_main/io_devices/pican.cpp
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@@ -51,6 +51,10 @@ bool PICAN::openDevice() {
piCoutObj << "Error! while determin the interface ioctl"; piCoutObj << "Error! while determin the interface ioctl";
return false; return false;
} }
struct timeval tv;
tv.tv_sec = 1;
tv.tv_usec = 0;
setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, (const char*)&tv, sizeof tv);
// bind socket to all CAN interface // bind socket to all CAN interface
sockaddr_can addr; sockaddr_can addr;
addr.can_family = AF_CAN; addr.can_family = AF_CAN;
@@ -83,7 +87,7 @@ int PICAN::readDevice(void * read_to, int max_size) {
can_frame frame; can_frame frame;
int ret = 0; int ret = 0;
ret = ::read(sock, &frame, sizeof(can_frame)); ret = ::read(sock, &frame, sizeof(can_frame));
if(ret < 0) {piCoutObj << "Error while read CAN frame " << ret; return -1;} if(ret < 0) {/*piCoutObj << "Error while read CAN frame " << ret;*/ return -1;}
//piCoutObj << "receive CAN frame Id =" << frame.can_id; //piCoutObj << "receive CAN frame Id =" << frame.can_id;
memcpy(read_to, frame.data, piMini(frame.can_dlc, max_size)); memcpy(read_to, frame.data, piMini(frame.can_dlc, max_size));
readed_id = frame.can_id; readed_id = frame.can_id;