motion/ecmc_plugin_socketcan
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Add write() error handling.

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This commit is contained in:
Anders Sandstrom
2021-03-10 15:35:10 +01:00
parent 8ab585652e
commit 6e84d4bf0c
4 changed files with 29 additions and 16 deletions
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8
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp
View File

@@ -241,7 +241,7 @@ int ecmcSocketCAN::getlastWritesError() {
if(!writeBuffer_) {
return ECMC_CAN_ERROR_WRITE_BUFFER_NULL;
}
return writeBuffer_->getlastWritesError();
return writeBuffer_->getlastWritesErrorAndReset();
}
int ecmcSocketCAN::addWriteCAN(uint32_t canId,
@@ -277,6 +277,12 @@ void ecmcSocketCAN::execute() {
for(int i = 0; i < deviceCounter_; i++){
devices_[i]->execute();
}
int writeError=getlastWritesError();
if (writeError) {
errorCode_ = writeError;
refreshNeeded_ = 1;
}
refreshAsynParams();
return;
}

11
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.cpp
View File

@@ -128,8 +128,10 @@ int ecmcSocketCANWriteBuffer::addWriteCAN( uint32_t canId,
return addWriteCAN(&frame);
}
int ecmcSocketCANWriteBuffer::getlastWritesError() {
return lastWriteSumError_;
int ecmcSocketCANWriteBuffer::getlastWritesErrorAndReset() {
int tempError = lastWriteSumError_;
lastWriteSumError_ = 0;
return tempError;
}
int ecmcSocketCANWriteBuffer::addToBuffer(can_frame *frame) {
@@ -180,6 +182,11 @@ int ecmcSocketCANWriteBuffer::writeCAN(can_frame *frame){
// Maybe need to add the size to write here.. if struct is not full, hmm?!
int nbytes = write(socketId_, frame, sizeof(struct can_frame));
if(nbytes == -1) {
printf("ecmcSocketCAN: write() fail with error %s.\n", strerror(errno));
return ECMC_CAN_ERROR_WRITE_INCOMPLETE;
}
if (nbytes!= sizeof(struct can_frame)) {
return ECMC_CAN_ERROR_WRITE_INCOMPLETE;
}

2
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.h
View File

@@ -71,7 +71,7 @@ class ecmcSocketCANWriteBuffer {
uint8_t data6,
uint8_t data7);
int addWriteCAN(can_frame *frame);
int getlastWritesError();
int getlastWritesErrorAndReset();
private:
static std::string to_string(int value);

24
iocsh/pvs.log
View File

@@ -1,12 +1,12 @@
REQMOD:mcag-trgt-muts--12400:MODULES
REQMOD:mcag-trgt-muts--12400:VERSIONS
REQMOD:mcag-trgt-muts--12400:MOD_VER
REQMOD:mcag-trgt-muts--12400:exit
REQMOD:mcag-trgt-muts--12400:BaseVersion
REQMOD:mcag-trgt-muts--12400:require_VER
REQMOD:mcag-trgt-muts--12400:ecmccfg_VER
REQMOD:mcag-trgt-muts--12400:asyn_VER
REQMOD:mcag-trgt-muts--12400:exprtk_VER
REQMOD:mcag-trgt-muts--12400:motor_VER
REQMOD:mcag-trgt-muts--12400:ecmc_VER
REQMOD:mcag-trgt-muts--12400:ecmc_plugin_socketcan_VER
REQMOD:mcag-trgt-muts--13868:MODULES
REQMOD:mcag-trgt-muts--13868:VERSIONS
REQMOD:mcag-trgt-muts--13868:MOD_VER
REQMOD:mcag-trgt-muts--13868:exit
REQMOD:mcag-trgt-muts--13868:BaseVersion
REQMOD:mcag-trgt-muts--13868:require_VER
REQMOD:mcag-trgt-muts--13868:ecmccfg_VER
REQMOD:mcag-trgt-muts--13868:asyn_VER
REQMOD:mcag-trgt-muts--13868:exprtk_VER
REQMOD:mcag-trgt-muts--13868:motor_VER
REQMOD:mcag-trgt-muts--13868:ecmc_VER
REQMOD:mcag-trgt-muts--13868:ecmc_plugin_socketcan_VER