SHS/pip
4
3
Fork 0
Code Issues 16 Pull Requests 2 Actions Releases Wiki Activity

Merge branch 'master' into pico_sdk

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
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 << ")!";