mirror of
https://git.rwth-aachen.de/acs/public/villas/node/
synced 2025-03-16 00:00:02 +01:00
add vim swp files (*.swp) to .gitignore
This commit is contained in:
Niklas Eiling
parent
dc247ec33b
commit
f5e0efb1ef
2 changed files with 238 additions and 237 deletions
1
.gitignore
vendored
1
.gitignore
vendored
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@ -1,5 +1,6 @@
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/build*/
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*~
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*.swp
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.clang_complete
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.project
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.cproject
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@ -74,126 +74,126 @@ int can_destroy(struct node *n)
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{
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struct can *c = (struct can *) n->_vd;
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free(c->interface_name);
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if (c->socket != 0) {
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close(c->socket);
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}
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free(c->in);
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free(c->out);
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free(c->interface_name);
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if (c->socket != 0) {
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close(c->socket);
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}
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free(c->in);
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free(c->out);
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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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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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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 (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 (!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_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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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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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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struct can *c = (struct can *) n->_vd;
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size_t i;
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json_t *json_in_signals;
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json_t *json_out_signals;
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json_t *json_signal;
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size_t i;
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json_t *json_in_signals;
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json_t *json_out_signals;
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json_t *json_signal;
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json_error_t err;
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c->in = nullptr;
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c->out = nullptr;
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c->in = nullptr;
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c->out = nullptr;
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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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"signals", &json_in_signals,
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"out",
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"signals", &json_out_signals
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);
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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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"signals", &json_in_signals,
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"out",
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"signals", &json_out_signals
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);
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if (ret) {
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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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if ((c->in = (struct can_signal*)calloc(
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json_array_size(json_in_signals),
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sizeof(struct can_signal))) == nullptr) {
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error("failed to allocate memory for input ids");
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goto out;
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}
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if ((c->out = (struct can_signal*)calloc(
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json_array_size(json_out_signals),
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sizeof(struct can_signal))) == nullptr) {
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error("failed to allocate memory for output ids");
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goto out;
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}
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json_array_foreach(json_in_signals, i, json_signal) {
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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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goto out;
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}
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json_array_foreach(json_out_signals, i, json_signal) {
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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 ((c->in = (struct can_signal*)calloc(
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json_array_size(json_in_signals),
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sizeof(struct can_signal))) == nullptr) {
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error("failed to allocate memory for input ids");
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goto out;
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}
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if ((c->out = (struct can_signal*)calloc(
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json_array_size(json_out_signals),
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sizeof(struct can_signal))) == nullptr) {
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error("failed to allocate memory for output ids");
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goto out;
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}
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json_array_foreach(json_in_signals, i, json_signal) {
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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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}
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json_array_foreach(json_out_signals, i, json_signal) {
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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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}
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ret = 0;
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out:
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if (ret != 0) {
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free(c->in);
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free(c->out);
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c->in = nullptr;
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c->out = nullptr;
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}
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ret = 0;
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out:
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if (ret != 0) {
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free(c->in);
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free(c->out);
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c->in = nullptr;
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c->out = nullptr;
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}
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return ret;
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}
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@ -209,9 +209,9 @@ int can_check(struct node *n)
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struct can *c = (struct can *) n->_vd;
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if (c->interface_name == nullptr || strlen(c->interface_name) == 0) {
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error("interface_name is empty. Please specify the name of the CAN interface!");
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error("interface_name is empty. Please specify the name of the CAN interface!");
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return 1;
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}
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}
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return 0;
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}
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@ -221,11 +221,11 @@ int can_prepare(struct node *n)
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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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//
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// c->state1 = c->setting1;
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//
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// if (strcmp(c->setting2, "double") == 0)
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// c->state1 *= 2;
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//
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// c->state1 = c->setting1;
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//
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// if (strcmp(c->setting2, "double") == 0)
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// c->state1 *= 2;
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return 0;
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}
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@ -239,21 +239,21 @@ int can_start(struct node *n)
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c->start_time = time_now();
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if((c->socket = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
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error("Error while opening CAN socket");
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return 1;
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error("Error while opening CAN socket");
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return 1;
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}
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strcpy(ifr.ifr_name, c->interface_name);
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if (ioctl(c->socket, SIOCGIFINDEX, &ifr) != 0) {
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error("Could not find interface with name \"%s\".", c->interface_name);
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return 1;
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}
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if (ioctl(c->socket, SIOCGIFINDEX, &ifr) != 0) {
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error("Could not find interface with name \"%s\".", c->interface_name);
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return 1;
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}
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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if(bind(c->socket, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
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error("Could not bind to interface with name \"%s\" (%d).", c->interface_name, ifr.ifr_ifindex);
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error("Could not bind to interface with name \"%s\" (%d).", c->interface_name, ifr.ifr_ifindex);
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return 1;
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}
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@ -264,11 +264,11 @@ int can_stop(struct node *n)
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{
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struct can *c = (struct can *) n->_vd;
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if (c->socket != 0) {
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close(c->socket);
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c->socket = 0;
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}
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//TODO: do we need to free c->interface_name here?
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if (c->socket != 0) {
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close(c->socket);
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c->socket = 0;
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}
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//TODO: do we need to free c->interface_name here?
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return 0;
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}
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@ -294,119 +294,119 @@ int can_resume(struct node *n)
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int can_read(struct node *n, struct sample *smps[], unsigned cnt, unsigned *release)
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{
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int nbytes;
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unsigned nread = 0;
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unsigned signal_num = 0;
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unsigned nread = 0;
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unsigned signal_num = 0;
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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 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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nbytes = read(c->socket, &frame, sizeof(struct can_frame));
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if (nbytes == -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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nbytes = read(c->socket, &frame, sizeof(struct can_frame));
|
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if (nbytes == -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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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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|
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debug(0,"received can message: (id:%d, len:%u, data: 0x%x:0x%x)",
|
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frame.can_id,
|
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frame.can_dlc,
|
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((uint32_t*)&frame.data)[0],
|
||||
((uint32_t*)&frame.data)[1]);
|
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debug(0,"received can message: (id:%d, len:%u, data: 0x%x:0x%x)",
|
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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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|
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if (ioctl(c->socket, SIOCGSTAMP, &tv) == 0) {
|
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TIMEVAL_TO_TIMESPEC(&tv, &smps[nread]->ts.received);
|
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smps[nread]->flags |= (int) SampleFlags::HAS_TS_RECEIVED;
|
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}
|
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if (ioctl(c->socket, SIOCGSTAMP, &tv) == 0) {
|
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TIMEVAL_TO_TIMESPEC(&tv, &smps[nread]->ts.received);
|
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smps[nread]->flags |= (int) SampleFlags::HAS_TS_RECEIVED;
|
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}
|
||||
|
||||
for (size_t i=0; i < vlist_length(&(n->in.signals)); i++) {
|
||||
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;
|
||||
memcpy(&smps[nread]->data[i],
|
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((uint8_t*)&frame.data) + c->in[i].offset,
|
||||
c->in[i].size);
|
||||
signal_num++;
|
||||
found_id = true;
|
||||
}
|
||||
}
|
||||
if (!found_id) {
|
||||
error("did not find signal for can id %d\n", frame.can_id);
|
||||
return 0;
|
||||
}
|
||||
/* Set signals, because other VILLASnode parts expect us to */
|
||||
smps[nread]->signals = &n->in.signals;
|
||||
smps[nread]->length = signal_num;
|
||||
smps[nread]->flags |= (int) SampleFlags::HAS_DATA;
|
||||
printf("flags: %d\n", smps[nread]->flags);
|
||||
for (size_t i=0; i < vlist_length(&(n->in.signals)); i++) {
|
||||
if (c->in[i].id == frame.can_id) {
|
||||
/* This is a bit ugly. But there is no clean way to
|
||||
* clear the union. */
|
||||
smps[nread]->data[i].i = 0;
|
||||
memcpy(&smps[nread]->data[i],
|
||||
((uint8_t*)&frame.data) + c->in[i].offset,
|
||||
c->in[i].size);
|
||||
signal_num++;
|
||||
found_id = true;
|
||||
}
|
||||
}
|
||||
if (!found_id) {
|
||||
error("did not find signal for can id %d\n", frame.can_id);
|
||||
return 0;
|
||||
}
|
||||
/* Set signals, because other VILLASnode parts expect us to */
|
||||
smps[nread]->signals = &n->in.signals;
|
||||
smps[nread]->length = signal_num;
|
||||
smps[nread]->flags |= (int) SampleFlags::HAS_DATA;
|
||||
printf("flags: %d\n", smps[nread]->flags);
|
||||
return 1;
|
||||
}
|
||||
|
||||
int can_write(struct node *n, struct sample *smps[], unsigned cnt, unsigned *release)
|
||||
{
|
||||
int nbytes;
|
||||
unsigned nwrite;
|
||||
unsigned nwrite;
|
||||
struct can_frame *frame;
|
||||
size_t fsize = 0; /* number of frames in use */
|
||||
size_t fsize = 0; /* number of frames in use */
|
||||
|
||||
struct can *c = (struct can *) n->_vd;
|
||||
|
||||
assert(cnt >= 1 && smps[0]->capacity >= 1);
|
||||
|
||||
frame = (struct can_frame*) calloc(sizeof(struct can_frame),
|
||||
vlist_length(&(n->out.signals)));
|
||||
frame = (struct can_frame*) calloc(sizeof(struct can_frame),
|
||||
vlist_length(&(n->out.signals)));
|
||||
|
||||
for (nwrite=0; nwrite < cnt; nwrite++) {
|
||||
for (size_t i=0; i < vlist_length(&(n->out.signals)); i++) {
|
||||
if (c->out[i].offset != 0) { /* frame is shared */
|
||||
continue;
|
||||
}
|
||||
frame[fsize].can_dlc = c->out[i].size;
|
||||
frame[fsize].can_id = c->out[i].id;
|
||||
memcpy(((uint8_t*)&frame[fsize].data) + c->out[i].offset,
|
||||
&smps[nwrite]->data[i],
|
||||
c->out[i].size);
|
||||
fsize++;
|
||||
}
|
||||
for (size_t i=0; i < vlist_length(&(n->out.signals)); i++) {
|
||||
if (c->out[i].offset == 0) { /* frame already stored */
|
||||
continue;
|
||||
}
|
||||
for (size_t j=0; j < fsize; j++) {
|
||||
if (c->out[i].id == frame[j].can_id) {
|
||||
frame[j].can_dlc += c->out[i].size;
|
||||
memcpy(((uint8_t*)&frame[j].data) + c->out[i].offset,
|
||||
&smps[nwrite]->data[i],
|
||||
c->out[i].size);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
for (size_t j=0; j < fsize; j++) {
|
||||
debug(0,"writing can message: (id:%d, dlc:%u, data:0x%x:0x%x)", frame[j].can_id,
|
||||
frame[j].can_dlc,
|
||||
((uint32_t*)&frame[j].data)[0],
|
||||
((uint32_t*)&frame[j].data)[1]);
|
||||
for (nwrite=0; nwrite < cnt; nwrite++) {
|
||||
for (size_t i=0; i < vlist_length(&(n->out.signals)); i++) {
|
||||
if (c->out[i].offset != 0) { /* frame is shared */
|
||||
continue;
|
||||
}
|
||||
frame[fsize].can_dlc = c->out[i].size;
|
||||
frame[fsize].can_id = c->out[i].id;
|
||||
memcpy(((uint8_t*)&frame[fsize].data) + c->out[i].offset,
|
||||
&smps[nwrite]->data[i],
|
||||
c->out[i].size);
|
||||
fsize++;
|
||||
}
|
||||
for (size_t i=0; i < vlist_length(&(n->out.signals)); i++) {
|
||||
if (c->out[i].offset == 0) { /* frame already stored */
|
||||
continue;
|
||||
}
|
||||
for (size_t j=0; j < fsize; j++) {
|
||||
if (c->out[i].id == frame[j].can_id) {
|
||||
frame[j].can_dlc += c->out[i].size;
|
||||
memcpy(((uint8_t*)&frame[j].data) + c->out[i].offset,
|
||||
&smps[nwrite]->data[i],
|
||||
c->out[i].size);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
for (size_t j=0; j < fsize; j++) {
|
||||
debug(0,"writing can message: (id:%d, dlc:%u, data:0x%x:0x%x)", frame[j].can_id,
|
||||
frame[j].can_dlc,
|
||||
((uint32_t*)&frame[j].data)[0],
|
||||
((uint32_t*)&frame[j].data)[1]);
|
||||
|
||||
if ((nbytes = write(c->socket, &frame[j], sizeof(struct can_frame))) == -1) {
|
||||
error("CAN write() returned -1. Is the CAN interface up?");
|
||||
return nwrite;
|
||||
}
|
||||
if ((unsigned)nbytes != sizeof(struct can_frame)) {
|
||||
error("CAN write() error. write() returned %d bytes but expected %zu",
|
||||
nbytes, sizeof(struct can_frame));
|
||||
return nwrite;
|
||||
}
|
||||
}
|
||||
}
|
||||
if ((nbytes = write(c->socket, &frame[j], sizeof(struct can_frame))) == -1) {
|
||||
error("CAN write() returned -1. Is the CAN interface up?");
|
||||
return nwrite;
|
||||
}
|
||||
if ((unsigned)nbytes != sizeof(struct can_frame)) {
|
||||
error("CAN write() error. write() returned %d bytes but expected %zu",
|
||||
nbytes, sizeof(struct can_frame));
|
||||
return nwrite;
|
||||
}
|
||||
}
|
||||
}
|
||||
return nwrite;
|
||||
}
|
||||
|
||||
|
|
@ -422,7 +422,7 @@ int can_reverse(struct node *n)
|
|||
int can_poll_fds(struct node *n, int fds[])
|
||||
{
|
||||
struct can *c = (struct can *) n->_vd;
|
||||
fds[0] = c->socket;
|
||||
fds[0] = c->socket;
|
||||
|
||||
return 1; /* The number of file descriptors which have been set in fds */
|
||||
}
|
||||
|
|
@ -437,39 +437,39 @@ int can_netem_fds(struct node *n, int fds[])
|
|||
}
|
||||
|
||||
__attribute__((constructor(110)))
|
||||
static void register_plugin() {
|
||||
if (plugins.state == State::DESTROYED)
|
||||
vlist_init(&plugins);
|
||||
static void register_plugin() {
|
||||
if (plugins.state == State::DESTROYED)
|
||||
vlist_init(&plugins);
|
||||
|
||||
p.name = "can";
|
||||
p.description = "Receive CAN messages using the socketCAN driver";
|
||||
p.node.instances.state = State::DESTROYED;
|
||||
p.node.vectorize = 0;
|
||||
p.node.size = sizeof(struct can);
|
||||
p.node.type.start = can_type_start;
|
||||
p.node.type.stop = can_type_stop;
|
||||
p.node.init = can_init;
|
||||
p.node.destroy = can_destroy;
|
||||
p.node.prepare = can_prepare;
|
||||
p.node.parse = can_parse;
|
||||
p.node.print = can_print;
|
||||
p.node.check = can_check;
|
||||
p.node.start = can_start;
|
||||
p.node.stop = can_stop;
|
||||
p.node.pause = can_pause;
|
||||
p.node.resume = can_resume;
|
||||
p.node.read = can_read;
|
||||
p.node.write = can_write;
|
||||
p.node.reverse = can_reverse;
|
||||
p.node.poll_fds = can_poll_fds;
|
||||
p.node.netem_fds = can_netem_fds;
|
||||
p.name = "can";
|
||||
p.description = "Receive CAN messages using the socketCAN driver";
|
||||
p.node.instances.state = State::DESTROYED;
|
||||
p.node.vectorize = 0;
|
||||
p.node.size = sizeof(struct can);
|
||||
p.node.type.start = can_type_start;
|
||||
p.node.type.stop = can_type_stop;
|
||||
p.node.init = can_init;
|
||||
p.node.destroy = can_destroy;
|
||||
p.node.prepare = can_prepare;
|
||||
p.node.parse = can_parse;
|
||||
p.node.print = can_print;
|
||||
p.node.check = can_check;
|
||||
p.node.start = can_start;
|
||||
p.node.stop = can_stop;
|
||||
p.node.pause = can_pause;
|
||||
p.node.resume = can_resume;
|
||||
p.node.read = can_read;
|
||||
p.node.write = can_write;
|
||||
p.node.reverse = can_reverse;
|
||||
p.node.poll_fds = can_poll_fds;
|
||||
p.node.netem_fds = can_netem_fds;
|
||||
|
||||
vlist_init(&p.node.instances);
|
||||
vlist_push(&plugins, &p);
|
||||
}
|
||||
vlist_init(&p.node.instances);
|
||||
vlist_push(&plugins, &p);
|
||||
}
|
||||
|
||||
__attribute__((destructor(110)))
|
||||
static void deregister_plugin() {
|
||||
if (plugins.state != State::DESTROYED)
|
||||
vlist_remove_all(&plugins, &p);
|
||||
}
|
||||
static void deregister_plugin() {
|
||||
if (plugins.state != State::DESTROYED)
|
||||
vlist_remove_all(&plugins, &p);
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue