CAN adopted, Linux work

libs/main/io_devices/pican.cpp

@@ -18,7 +18,7 @@
 */
 #include "pican.h"
 #include "pipropertystorage.h"
-#include "piincludes_p.h"
+#include "piwaitevent_p.h"
 #if !defined(WINDOWS) && !defined(MAC_OS) && !defined(MICRO_PIP)
 #  define PIP_CAN
 #endif
@@ -39,17 +39,24 @@
 REGISTER_DEVICE(PICAN)
 
 
+PRIVATE_DEFINITION_START(PICAN)
+	PIWaitEvent event;
+PRIVATE_DEFINITION_END(PICAN)
+
+
 PICAN::PICAN(const PIString & path, PIIODevice::DeviceMode mode) : PIIODevice(path, mode) {
 	setThreadedReadBufferSize(256);
 	setPath(path);
 	can_id = 0;
 	sock = 0;
+	PRIVATE->event.create();
 }
 
 
 PICAN::~PICAN() {
-	stop();
+	stopAndWait();
 	close();
+	PRIVATE->event.destroy();
 }
 
 
@@ -92,6 +99,7 @@ bool PICAN::openDevice() {
 
 bool PICAN::closeDevice() {
 #ifdef PIP_CAN
+	interrupt();
 	if (sock > 0) ::close(sock);
 #endif
 	return true;
@@ -103,9 +111,8 @@ ssize_t PICAN::readDevice(void * read_to, ssize_t max_size) {
 	//piCout << "PICAN read";
 	can_frame frame;
 	ssize_t ret = 0;
-	reading_now = true;
-	ret = ::read(sock, &frame, sizeof(can_frame));
-	reading_now = false;
+	if (PRIVATE->event.wait(sock))
+		ret = ::read(sock, &frame, sizeof(can_frame));
 	if (ret < 0) {/*piCoutObj << "Error while read CAN frame " << ret;*/ return -1;}
 	//piCoutObj << "receive CAN frame Id =" << frame.can_id;
 	memcpy(read_to, frame.data, piMini(frame.can_dlc, max_size));
@@ -148,6 +155,11 @@ int PICAN::readedCANID() const {
 }
 
 
+void PICAN::interrupt() {
+	PRIVATE->event.interrupt();
+}
+
+
 PIString PICAN::constructFullPathDevice() const {
 	PIString ret;
 	ret += path() + ":" + PIString::fromNumber(CANID(), 16);