motion/ecmc_plugin_socketcan
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Add some read and writes. Just testing..

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This commit is contained in:
Anders Sandstrom
2021-03-01 14:48:29 +01:00
parent 7738922784
commit 449d7360bd
1 changed files with 33 additions and 7 deletions
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40
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcPluginSocketCAN.c
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@@ -41,6 +41,10 @@ static int lastEcmcError = 0;
static char* lastConfStr = NULL;
static int alreadyLoaded = 0;
static int socketId = -1;
struct can_frame frame;
/** Optional.
* Will be called once after successfull load into ecmc.
* Return value other than 0 will be considered error.
@@ -57,28 +61,28 @@ int canConstruct(char *configStr)
lastConfStr = strdup(configStr);
int s;
int nbytes;
struct sockaddr_can addr;
struct can_frame frame;
struct ifreq ifr;
const char *ifname = "vcan0";
if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) == -1) {
if((socketId = socket(PF_CAN, SOCK_RAW, CAN_RAW)) == -1) {
perror("Error while opening socket");
return -1;
}
strcpy(ifr.ifr_name, ifname);
ioctl(s, SIOCGIFINDEX, &ifr);
ioctl(socketId, SIOCGIFINDEX, &ifr);
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
printf("%s at index %d\n", ifname, ifr.ifr_ifindex);
if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) == -1) {
if(bind(socketId, (struct sockaddr *)&addr, sizeof(addr)) == -1) {
perror("Error in socket bind");
return -2;
}
@@ -88,7 +92,7 @@ int canConstruct(char *configStr)
frame.data[0] = 0x11;
frame.data[1] = 0x22;
nbytes = write(s, &frame, sizeof(struct can_frame));
nbytes = write(socketId, &frame, sizeof(struct can_frame));
printf("Wrote %d bytes\n", nbytes);
@@ -113,8 +117,30 @@ void canDestruct(void)
* Return value other than 0 will be considered to be an error code in ecmc.
**/
int canRealtime(int ecmcError)
{
{
frame.can_id = 0x123;
frame.can_dlc = 2;
frame.data[0] = frame.data[0]+1;
frame.data[1] = frame.data[1]+1;
int nbytes = write(socketId, &frame, sizeof(struct can_frame));
printf("\nWrote %d bytes\n", nbytes);
// NOTE read is BLOCKING so need to start separate thread
struct can_frame rxmsg;
read(socketId, &rxmsg, sizeof(rxmsg));
printf("\n0x%02X", rxmsg.can_id);
printf(" [%d]", rxmsg.can_dlc);
for(int i=0; i<rxmsg.can_dlc; i++ ) {
printf(" 0x%02X", rxmsg.data[i]);
}
lastEcmcError = ecmcError;
return 0;
}