From a6456894ae06259a45fa5add55398b11adffb16d Mon Sep 17 00:00:00 2001
From: Anders Sandstrom <anders.sandstrom@esss.se>
Date: Mon, 8 Mar 2021 17:03:43 +0100
Subject: [PATCH] PDO: Add mutex

---
 .../ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.cpp       | 8 ++++++++
 .../ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.h         | 3 +++
 2 files changed, 11 insertions(+)

diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.cpp b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.cpp
index ed32a3d..c5d258b 100644
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.cpp
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.cpp
@@ -58,6 +58,8 @@ ecmcCANOpenPDO::ecmcCANOpenPDO(ecmcSocketCANWriteBuffer* writeBuffer,
   writeFrame_.data[6] = 0;
   writeFrame_.data[7] = 0;
 
+  dataMutex_ = epicsMutexCreate();
+
 }
 
 ecmcCANOpenPDO::~ecmcCANOpenPDO() {
@@ -95,8 +97,10 @@ void ecmcCANOpenPDO::newRxFrame(can_frame *frame) {
   // Wait for:
   if(rw_ == DIR_READ) {
     if(validateFrame(frame)) {
+      epicsMutexLock(dataMutex_);
       memset(dataBuffer_,0,ODSize_);
       memcpy(dataBuffer_, &(frame->data[0]),frame->can_dlc);
+      epicsMutexUnlock(dataMutex_);
       errorCode_ = 0;
       if(dbgMode_) {
         printBuffer();
@@ -129,12 +133,16 @@ int ecmcCANOpenPDO::validateFrame(can_frame *frame) {
 }
 
 void ecmcCANOpenPDO::setValue(uint64_t data) {
+  epicsMutexLock(dataMutex_);
   memcpy(dataBuffer_, &data, ODSize_);
+  epicsMutexUnlock(dataMutex_);
 }
 
 int ecmcCANOpenPDO::writeValue() {
   if(writeFrame_.can_dlc > 0) {
+    epicsMutexLock(dataMutex_);
     memcpy(&(writeFrame_.data[0]), dataBuffer_ ,writeFrame_.can_dlc);
+    epicsMutexUnlock(dataMutex_);
   }
   return writeBuffer_->addWriteCAN(&writeFrame_);
 }
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.h b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.h
index b7fb588..c4fb700 100644
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.h
+++ b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.h
@@ -20,6 +20,7 @@
 #include "inttypes.h"
 #include <string>
 #include "ecmcSocketCANWriteBuffer.h"
+#include "epicsMutex.h"
 
 #include <linux/can.h>
 #include <linux/can/raw.h>
@@ -58,6 +59,8 @@ class ecmcCANOpenPDO {
   void printBuffer();
   int dbgMode_;
   can_frame writeFrame_;
+  epicsMutexId  dataMutex_;
+
 };
 
 #endif  /* ECMC_CANOPEN_PDO_H_ */