int can_send_message(can_message_t* message) {
static CPC_CAN_MSG_T cmsg = {0x00L, 0, {0, 0, 0, 0, 0, 0, 0, 0}};
int i, retval = 0;
cmsg.id=message->id; //put the can id of the device in cmsg
cmsg.length=8; //put the lenght of the message in cmsg
for(i = 0; i < cmsg.length; i++) {
cmsg.msg[i] = message->content[i]; //put the message in cmsg
}
SELECT_WR; //enable write en read
if (FD_ISSET(cpcfd, &writefds)) { //if chanel open and writable (???)
//send the message of lenght 8 to the device of id can_id
while ((retval = CPC_SendMsg(handle, 0, &cmsg)) == CPC_ERR_CAN_NO_TRANSMIT_BUF) {
usleep(10);
}
if (retval == 0) {
//wait for the reply
PDEBUG("Sent CAN message, now waiting for reply...\n");
can_read_message();
PDEBUG("Received CAN reply\n");
} else {
PDEBUG_ERR("%s\n", CPC_DecodeErrorMsg(retval));
return -1;
}
}
return 0;
}
int can_cpc_send(can_cpc_device_p dev, can_message_p message) {
CPC_CAN_MSG_T msg = {0x00L, 0, {0, 0, 0, 0, 0, 0, 0, 0}};
struct timeval time;
fd_set set;
int i, error;
msg.id = message->id;
msg.length = message->length;
memcpy(msg.msg, message->content, message->length);
time.tv_sec = 0;
time.tv_usec = dev->timeout*1e6;
FD_ZERO(&set);
FD_SET(dev->fd, &set);
error = select(dev->fd+1, NULL, &set, NULL, &time);
if (error == 0)
return CAN_CPC_ERROR_TIMEOUT;
while ((error = CPC_SendMsg(dev->handle, 0, &msg)) ==
CPC_ERR_CAN_NO_TRANSMIT_BUF)
usleep(10);
if (!error)
++dev->num_sent;
else
return CAN_CPC_ERROR_SEND;
return CAN_CPC_ERROR_NONE;
}
