void openAllCAN(int vCan) {
for ( size_t i = 0; i < 2; i ++ ) {
int r = canOpen( i, //net
0, // flags
10, //txqueue
10, //rxqueue
100, //txtimeout
100, //rxtimeout
&hubo_socket[i] //handle
);
if( NTCAN_SUCCESS != r ) {
fprintf(stderr, "Unable to open CAN %d: %s\n", i, canResultString(r));
exit( EXIT_FAILURE );
}
r = canSetBaudrate( hubo_socket[i], NTCAN_BAUD_1000 );
if( NTCAN_SUCCESS != r ) {
fprintf(stderr, "Unable to set CAN %d baud: %s\n", i, canResultString(r));
exit( EXIT_FAILURE );
}
}
}
/**
* Sends CAN packet to desired channel
*
* @param $first
* "@param" is the socket you want to send to
* @param $second
* CAN frame to send
*/
int sendCan(hubo_can_t skt, struct can_frame *f) {
/*** Convert socketcan struct to NTCAN CMSG ***/
CMSG esd_frame;
// id
esd_frame.id = f->can_id;
// len
esd_frame.len = f->can_dlc;
// data
for( size_t i = 0; i < esd_frame.len; i ++ ) {
esd_frame.data[i] = f->data[i];
}
/*** Send the Message ***/
int32_t num = 1;
int r = canWrite( skt, &esd_frame, &num, NULL );
// FIXME: check error and handle failure reasonably
if (NTCAN_SUCCESS != r) {
fprintf(stderr, "canWrite error: %s\n", canResultString(r));
}
}
int readCan(hubo_can_t skt, struct can_frame *f, double timeoD) {
(void) timeoD; // ignore this
/*** Get the Message ***/
CMSG esd_frame;
int32_t num = 1;
int r = canRead( skt, &esd_frame, &num, NULL );
// FIXME: check error and handle failure reasonably
if (NTCAN_SUCCESS != r) {
fprintf(stderr, "canRead error: %s\n", canResultString(r));
return 0;
}
/*** Convert to socketcan struct ***/
// id
f->can_id = esd_frame.id;
// len
f->can_dlc = esd_frame.len;
// data
for( size_t i = 0; i < esd_frame.len; i ++ ) {
f->data[i] = esd_frame.data[i];
}
}
