From 6e84d4bf0ca7ddaa5d6d58befdfe416c789c0d71 Mon Sep 17 00:00:00 2001
From: Anders Sandstrom <anders.sandstrom@esss.se>
Date: Wed, 10 Mar 2021 15:35:10 +0100
Subject: [PATCH] Add write() error handling.

---
 .../src/ecmcSocketCAN.cpp                     |  8 ++++++-
 .../src/ecmcSocketCANWriteBuffer.cpp          | 11 +++++++--
 .../src/ecmcSocketCANWriteBuffer.h            |  2 +-
 iocsh/pvs.log                                 | 24 +++++++++----------
 4 files changed, 29 insertions(+), 16 deletions(-)

diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp
index 2b9dbc5..b676c41 100644
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp
@@ -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;
 }
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.cpp b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.cpp
index fed1b9b..ad1a6f0 100644
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.cpp
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.cpp
@@ -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;
   }
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.h b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.h
index 5ba5170..dfd3768 100644
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.h
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.h
@@ -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);
diff --git a/iocsh/pvs.log b/iocsh/pvs.log
index ff488b5..9a034b6 100644
--- a/iocsh/pvs.log
+++ b/iocsh/pvs.log
@@ -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