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Merge branch 'master' into pico_sdk

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This commit is contained in:
andrey
2026-08-11 09:56:27 +03:00
parent 4e7a5d58aa 9d38731e1a
commit 87c53d45a4
33 changed files with 749 additions and 405 deletions
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libs/main/io_devices/pican.cpp
+18 -3
View File
@@ -24,6 +24,7 @@
# define PIP_CAN
#endif
#ifdef PIP_CAN
# include <fcntl.h>
# include <linux/can.h>
# include <linux/can/raw.h>
# include <net/if.h>
@@ -50,7 +51,7 @@ PICAN::PICAN(const PIString & path, PIIODevice::DeviceMode mode): PIIODevice(pat
setPath(path);
#ifdef PIP_CAN
can_id = 0;
sock = 0;
sock = -1;
PRIVATE->event.create();
#endif
}
@@ -71,19 +72,25 @@ bool PICAN::openDevice() {
sock = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (sock < 0) {
piCoutObj << "Error! while opening socket";
sock = -1;
return false;
}
fcntl(sock, F_SETFL, fcntl(sock, F_GETFL) | O_NONBLOCK);
ifreq ifr;
strcpy(ifr.ifr_name, path().dataAscii());
piCout << "PICAN try to get interface index...";
if (ioctl(sock, SIOCGIFINDEX, &ifr) < 0) {
piCoutObj << "Error! while determin the interface ioctl";
::close(sock);
sock = -1;
return false;
}
struct timeval tv;
tv.tv_sec = 1;
tv.tv_usec = 0;
setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, (const char *)&tv, sizeof tv);
if (setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, (const char *)&tv, sizeof tv) < 0) {
piCoutObj << "Error! while setting socket receive timeout";
}
// bind socket to all CAN interface
sockaddr_can addr;
addr.can_family = AF_CAN;
@@ -91,6 +98,8 @@ bool PICAN::openDevice() {
piCout << "PICAN try to bind socket to interface" << ifr.ifr_ifindex;
if (bind(sock, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
piCoutObj << "Error! while binding socket";
::close(sock);
sock = -1;
return false;
}
piCout << "PICAN Open OK!";
@@ -105,7 +114,11 @@ bool PICAN::openDevice() {
bool PICAN::closeDevice() {
#ifdef PIP_CAN
interrupt();
if (sock > 0) ::close(sock);
if (sock != -1) {
::shutdown(sock, SHUT_RDWR);
::close(sock);
sock = -1;
}
#endif
return true;
}
@@ -113,6 +126,7 @@ bool PICAN::closeDevice() {
ssize_t PICAN::readDevice(void * read_to, ssize_t max_size) {
#ifdef PIP_CAN
if (sock == -1) return -1;
// piCout << "PICAN read";
can_frame frame;
ssize_t ret = 0;
@@ -131,6 +145,7 @@ ssize_t PICAN::readDevice(void * read_to, ssize_t max_size) {
ssize_t PICAN::writeDevice(const void * data, ssize_t max_size) {
#ifdef PIP_CAN
if (sock == -1) return -1;
// piCout << "PICAN write" << can_id << max_size;
if (max_size > 8) {
piCoutObj << "Can't send CAN frame bigger than 8 bytes (requested " << max_size << ")!";
libs/main/io_devices/pican.h
+1 -1
View File
@@ -73,7 +73,7 @@ protected:
private:
PRIVATE_DECLARATION(PIP_EXPORT)
int sock;
int sock = -1;
int can_id, readed_id;
};
libs/main/io_devices/piethernet.cpp
+20 -6
View File
@@ -103,7 +103,11 @@
# ifndef WINDOWS
PIString getSockAddr(sockaddr * s) {
return s == 0 ? PIString() : PIStringAscii(inet_ntoa(((sockaddr_in *)s)->sin_addr));
if (!s) return PIString();
char buf[INET_ADDRSTRLEN];
piZeroMemory(buf, sizeof(buf));
const char * r = inet_ntop(AF_INET, &((sockaddr_in *)s)->sin_addr, buf, sizeof(buf));
return r ? PIStringAscii(r) : PIString();
}
# endif
@@ -862,6 +866,7 @@ ssize_t PIEthernet::writeDevice(const void * data, ssize_t max_size) {
return -1;
}
}
ret += sr;
remain_data += sr;
remain_size -= sr;
}
@@ -1176,13 +1181,19 @@ PIEthernet::InterfaceList PIEthernet::interfaces() {
# else
# ifdef ANDROID
struct ifconf ifc;
int s = ::socket(AF_INET, SOCK_STREAM, IPPROTO_IP);
int s = ::socket(AF_INET, SOCK_STREAM, IPPROTO_IP);
if (s == -1) {
piCout << "[PIEthernet]"
<< "Can`t create socket: %1"_tr("PIEthernet").arg(errorString());
return il;
}
ifc.ifc_len = 256;
ifc.ifc_buf = new char[ifc.ifc_len];
if (ioctl(s, SIOCGIFCONF, &ifc) < 0) {
piCout << "[PIEthernet]"
<< "Can`t get interfaces: %1"_tr("PIEthernet").arg(errorString());
delete[] ifc.ifc_buf;
::close(s);
return il;
}
int icnt = ifc.ifc_len / sizeof(ifreq);
@@ -1201,7 +1212,8 @@ PIEthernet::InterfaceList PIEthernet::interfaces() {
if (ci.address == "127.0.0.1") ci.flags |= PIEthernet::ifLoopback;
il << ci;
}
delete ifc.ifc_buf;
delete[] ifc.ifc_buf;
::close(s);
# else
struct ifaddrs *ret, *cif = 0;
int s = ::socket(AF_INET, SOCK_STREAM, IPPROTO_IP);
@@ -1223,7 +1235,7 @@ PIEthernet::InterfaceList PIEthernet::interfaces() {
# ifdef QNX
# ifndef BLACKBERRY
int fd = ::open((PIString("/dev/io-net/") + ci.name).dataAscii(), O_RDONLY);
if (fd != 0) {
if (fd >= 0) {
nic_config_t nic;
devctl(fd, DCMD_IO_NET_GET_CONFIG, &nic, sizeof(nic), 0);
::close(fd);
@@ -1292,8 +1304,10 @@ PINetworkAddress PIEthernet::interfaceAddress(const PIString & interface_) {
piZeroMemory(ifr);
strcpy(ifr.ifr_name, interface_.dataAscii());
int s = ::socket(AF_INET, SOCK_DGRAM, 0);
ioctl(s, SIOCGIFADDR, &ifr);
::close(s);
if (s != -1) {
ioctl(s, SIOCGIFADDR, &ifr);
::close(s);
}
struct sockaddr_in * sa = (struct sockaddr_in *)&ifr.ifr_addr;
return PINetworkAddress(uint(sa->sin_addr.s_addr));
# endif
libs/main/io_devices/piiobytearray.cpp
+1 -2
View File
@@ -62,8 +62,7 @@ ssize_t PIIOByteArray::readDevice(void * read_to, ssize_t size) {
if (ret <= 0) return -1;
memcpy(read_to, data_->data(pos), ret);
// piCout << "readed" << ret;
pos += size;
if (pos > data_->size_s()) pos = data_->size_s();
pos += ret;
return ret;
}
libs/main/io_devices/pipeer.cpp
+4 -1
View File
@@ -623,7 +623,10 @@ bool PIPeer::dataRead(const uchar * readed, ssize_t size) {
return true;
}
cnt++;
if (cnt > _PIPEER_MSG_TTL || from == dp->name) return true;
if (cnt > _PIPEER_MSG_TTL || from == dp->name) {
eth_mutex.unlock();
return true;
}
sba << type << from << to << cnt << pba;
// piCout << "translate packet" << from << "->" << to << ", ttl =" << cnt;
sendToNeighbour(dp, sba);
libs/main/io_devices/piserial.cpp
+4 -1
View File
@@ -512,7 +512,10 @@ bool PISerial::read(void * data, int size, double timeout_ms) {
all = readDevice(data, 1);
while (all < size) {
ret = readDevice(&((uchar *)data)[all], size - all);
if (ret > 0) all += ret;
if (ret > 0)
all += ret;
else
break;
}
setOption(BlockingRead, br);
received(data, all);