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https://git.rwth-aachen.de/acs/public/villas/node/
synced 2025-03-09 00:00:00 +01:00
can: clean can_parse and test configuration parsing
This commit is contained in:
parent
a174e06961
commit
496daae78f
1 changed files with 105 additions and 96 deletions
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@ -83,6 +83,58 @@ int can_destroy(struct node *n)
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return 0;
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}
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int can_parse_signal(json_t *json, struct vlist *node_signals, struct can_signal *can_signals)
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{
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const char *name = nullptr;
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uint64_t can_id = 0;
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int can_size = 8;
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int can_offset = 0;
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struct signal* sig = nullptr;
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int ret = 1;
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json_error_t err;
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ret = json_unpack_ex(json, &err, 0, "{ s: s, s?: i, s?: i, s?: i }",
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"name", &name,
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"can_id", &can_id,
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"can_size", &can_size,
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"can_offset", &can_offset
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);
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if (ret) {
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jerror(&err, "Failed to parse signal configuration for can");
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goto out;
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}
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if (!name) {
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error("No signale name specified for signal.");
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goto out;
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}
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if (can_size > 8 || can_size <= 0) {
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error("can_size of %d for signal \"%s\" is invalid. You must satisfy 0 < can_size <= 8.", can_size, name);
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goto out;
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}
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if (can_offset > 8 || can_offset < 0) {
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error("can_offset of %d for signal \"%s\" is invalid. You must satisfy 0 <= can_offset <= 8.", can_offset, name);
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goto out;
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}
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for (size_t i=0; i < vlist_length(node_signals); i++) {
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sig = (struct signal*)vlist_at(node_signals, i);
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if (strcmp(name, sig->name) == 0) {
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can_signals[i].id = can_id;
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can_signals[i].size = can_size;
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can_signals[i].offset = can_offset;
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ret = 0;
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goto out;
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}
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}
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error("Did not find signal for can_signal \"%s\"\n while parsing configuration file", name);
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out:
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return ret;
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}
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int can_parse(struct node *n, json_t *cfg)
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{
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int ret = 1;
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@ -95,8 +147,9 @@ int can_parse(struct node *n, json_t *cfg)
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c->in = nullptr;
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c->out = nullptr;
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printf("can_parse\n");
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ret = json_unpack_ex(cfg, &err, 0, "{ s: s, s: F, s: { s: o}, s: { s: o}}",
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ret = json_unpack_ex(cfg, &err, 0, "{ s: s, s: F, s?: { s?: o }, s?: { s?: o } }",
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"interface_name", &c->interface_name,
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"sample_rate", &c->sample_rate,
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"in",
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@ -108,6 +161,7 @@ int can_parse(struct node *n, json_t *cfg)
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jerror(&err, "Failed to parse configuration of node %s", node_name(n));
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goto out;
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}
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printf("in: %lu, out: %lu\n", json_array_size(json_in_signals), json_array_size(json_out_signals));
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if ((c->in = (struct can_signal*)calloc(
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json_array_size(json_in_signals),
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@ -123,80 +177,16 @@ int can_parse(struct node *n, json_t *cfg)
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}
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json_array_foreach(json_in_signals, i, json_signal) {
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const char *name = nullptr;
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uint64_t can_id = 0;
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int can_size = 8;
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int can_offset = 0;
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struct signal* sig = nullptr;
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ret = json_unpack_ex(json_signal, &err, 0, "{ s: s, s?: i, s?: i, s?: i }",
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"name", &name,
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"can_id", &can_id,
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"can_size", &can_size,
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"can_offset", &can_offset
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);
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if (ret) {
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jerror(&err, "Failed to parse signal configuration of node %s", node_name(n));
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if (can_parse_signal(json_signal, &n->in.signals, c->in) != 0) {
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error("at signal %zu in node %s.",i , node_name(n));
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goto out;
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}
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if (!name) {
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error("No signale name specified for signal %zu of node %s.", i, node_name(n));
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goto out;
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}
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for (size_t i=0; i < vlist_length(&(n->in.signals)); i++) {
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sig = (struct signal*)vlist_at(&n->in.signals, i);
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if (strcmp(name, sig->name) == 0) {
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c->in[i].id = can_id;
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c->in[i].size = can_size;
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c->in[i].offset = can_offset;
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break;
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}
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}
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}
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json_array_foreach(json_out_signals, i, json_signal) {
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const char *name = nullptr;
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uint64_t can_id;
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int can_size = 8;
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int can_offset = 0;
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struct signal* sig = nullptr;
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ret = json_unpack_ex(json_signal, &err, 0, "{ s: s, s?: i, s?: i, s?: i }",
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"name", &name,
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"can_id", &can_id,
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"can_size", &can_size,
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"can_offset", &can_offset
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);
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if (ret) {
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jerror(&err, "Failed to parse signal configuration of node %s", node_name(n));
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if (can_parse_signal(json_signal, &n->out.signals, c->out) != 0) {
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error("at signal %zu in node %s.",i , node_name(n));
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goto out;
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}
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if (!name) {
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error("No signale name specified for signal %zu of node %s.", i, node_name(n));
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goto out;
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}
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if (can_size > 8 || can_size <= 0) {
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error("can_size of %d for signal \"%s\" is invalid. You must satisfy 0 < can_size <= 8.", can_size, name);
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goto out;
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}
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if (can_offset > 8 || can_offset < 0) {
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error("can_offset of %d for signal \"%s\" is invalid. You must satisfy 0 <= can_offset <= 8.", can_offset, name);
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goto out;
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}
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for (size_t i=0; i < vlist_length(&n->in.signals); i++) {
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sig = (struct signal*)vlist_at(&n->in.signals, i);
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if (strcmp(name, sig->name) == 0) {
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c->in[i].id = can_id;
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c->in[i].size = can_size;
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c->in[i].offset = can_offset;
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break;
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}
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}
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}
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ret = 0;
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out:
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@ -230,6 +220,11 @@ int can_check(struct node *n)
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int can_prepare(struct node *n)
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{
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struct signal* sig;
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for (size_t i=0; i < vlist_length(&(n->in.signals)); i++) {
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sig = (struct signal*)vlist_at(&n->in.signals, i);
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printf("signal: %s\n", sig->name);
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}
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//struct can *c = (struct can *) n->_vd;
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/* TODO: Add implementation here. The following is just an can */
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@ -307,48 +302,62 @@ int can_read(struct node *n, struct sample *smps[], unsigned cnt, unsigned *rele
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{
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int nbytes;
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unsigned nread;
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unsigned signal_num;
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struct can_frame frame;
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struct timeval tv;
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bool found_id = false;
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struct can *c = (struct can *) n->_vd;
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assert(cnt >= 1 && smps[0]->capacity >= 1);
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for (nread=0; nread < cnt; nread++) {
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if ((nbytes = read(c->socket, &frame, sizeof(struct can_frame))) == -1) {
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error("CAN read() returned -1. Is the CAN interface up?");
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return 1;
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}
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if ((unsigned)nbytes != sizeof(struct can_frame)) {
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error("CAN read() error. read() returned %d bytes but expected %zu",
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nbytes, sizeof(struct can_frame));
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return 1;
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}
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signal_num = 0;
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found_id = false;
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while (signal_num < (unsigned)vlist_length(&(n->in.signals))) {
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if ((nbytes = read(c->socket, &frame, sizeof(struct can_frame))) == -1) {
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error("CAN read() returned -1. Is the CAN interface up?");
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return 0;
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}
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if ((unsigned)nbytes != sizeof(struct can_frame)) {
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error("CAN read() error. read() returned %d bytes but expected %zu",
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nbytes, sizeof(struct can_frame));
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return 0;
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}
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printf("id:%d, len:%u, data: 0x%x:0x%x\n", frame.can_id,
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frame.can_dlc,
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((uint32_t*)&frame.data)[0],
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((uint32_t*)&frame.data)[1]);
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printf("id:%d, len:%u, data: 0x%x:0x%x\n", frame.can_id,
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frame.can_dlc,
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((uint32_t*)&frame.data)[0],
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((uint32_t*)&frame.data)[1]);
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if (ioctl(c->socket, SIOCGSTAMP, &tv) != 0) {
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warning("Could not get timestamp from CAN driver on interface \"%s\".", c->interface_name);
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smps[nread]->ts.received = time_now();
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} else {
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TIMEVAL_TO_TIMESPEC(&tv, &smps[nread]->ts.received);
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}
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if (ioctl(c->socket, SIOCGSTAMP, &tv) != 0) {
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warning("Could not get timestamp from CAN driver on interface \"%s\".", c->interface_name);
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smps[nread]->ts.received = time_now();
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} else {
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TIMEVAL_TO_TIMESPEC(&tv, &smps[nread]->ts.received);
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}
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for (size_t i=0; i < vlist_length(&(n->in.signals)); i++) {
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if (c->in[i].id == frame.can_id) {
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/* This is a bit ugly. But there is no clean way to
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* clear the union. */
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smps[nread]->data[i].i = 0;
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memcpy(&smps[nread]->data[i],
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((uint8_t*)&frame.data) + c->in[i].offset,
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c->in[i].size);
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for (size_t i=0; i < vlist_length(&(n->in.signals)); i++) {
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printf("%d\n", c->in[i].id);
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if (c->in[i].id == frame.can_id) {
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/* This is a bit ugly. But there is no clean way to
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* clear the union. */
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smps[nread]->data[i].i = 0;
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memcpy(&smps[nread]->data[i],
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((uint8_t*)&frame.data) + c->in[i].offset,
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c->in[i].size);
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signal_num++;
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found_id = true;
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}
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}
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if (!found_id) {
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error("did not find signal for can id %d\n", frame.can_id);
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return 0;
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}
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}
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/* Set signals, because other VILLASnode parts expect us to */
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smps[nread]->signals = &n->in.signals;
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smps[nread]->length = signal_num;
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}
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return nread;
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}
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