update

src/test/socketcan.cpp

@@ -124,7 +124,7 @@ bool SocketCan::initialize(string canName, int bitrate, vector<can_filter_t> fil
     return false;
   }
 
-  setCanBitrate(canName, bitrate);
+  // setCanBitrate(canName, bitrate);
 
   m_canfd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
   if (m_canfd < 0) {
@@ -136,6 +136,12 @@ bool SocketCan::initialize(string canName, int bitrate, vector<can_filter_t> fil
   strcpy(ifr.ifr_name, canName.c_str());
   ioctl(m_canfd, SIOCGIFINDEX, &ifr);
 
+  const int bufsize = 0;
+  if (setsockopt(m_canfd, SOL_SOCKET, SO_SNDBUF, &bufsize, sizeof(bufsize)) != 0) {
+    logger->error("setsockopt SO_SNDBUF fail,{}", strerror(errno));
+    return -1;
+  }
+
   struct sockaddr_can addr = {0};
   addr.can_family          = AF_CAN;
   addr.can_ifindex         = ifr.ifr_ifindex;
@@ -181,37 +187,50 @@ int SocketCan::sendFrame(shared_ptr<CanFrame> frame) {
   }
   return 0;
 }
+#if 0
+struct canfd_frame {
+	canid_t can_id;  /* 32 bit CAN_ID + EFF/RTR/ERR flags */
+	__u8    len;     /* frame payload length in byte */
+	__u8    flags;   /* additional flags for CAN FD */
+	__u8    __res0;  /* reserved / padding */
+	__u8    __res1;  /* reserved / padding */
+	__u8    data[CANFD_MAX_DLEN] __attribute__((aligned(8)));
+};
+#endif
+
 void SocketCan::startListen() {
   m_thread.reset(                                                      //
       new Thread(fmt::format("SocketCan_{}_ListenThread", m_canName),  //
                  [this]() {
                    ThisThread thisThread;
-                   fd_set     readFileDescriptors;
-
-                   timeval waitTime;
-                   waitTime.tv_sec  = 3;
-                   waitTime.tv_usec = 0;
-
+                   fd_set     readfds, readFileDescriptors;
                    FD_ZERO(&readFileDescriptors);
                    FD_SET(m_canfd, &readFileDescriptors);
 
                    while (!thisThread.getExitFlag()) {
-                     canfd_frame_t canframe;
+                     canfd_frame_t      canframe;
+                     struct canfd_frame frame;
+
+                     timeval waitTime;
+                     waitTime.tv_sec  = 3;
+                     waitTime.tv_usec = 0;
 
-                     logger->info("select....");
-                     size_t n = select(m_canfd + 1, &readFileDescriptors, 0, 0, &waitTime);
+                     readfds = readFileDescriptors;
+
+                     int n = select(m_canfd + 1, &readfds, 0, 0, &waitTime);
+                     logger->info("select.... {}", n);
                      if (n <= 0) {
                        continue;
                      }
 
                      memset(&canframe, 0x00, sizeof(canframe));
                      int ret = read(m_canfd, &canframe, sizeof(canframe));
-                     if (ret != sizeof(canframe)) {
-                       logger->error("read fail,{}", strerror(errno));
-                       continue;
-                     }
+                     //  if (ret != sizeof(canframe)) {
+                     //    logger->error("read fail,{}", strerror(errno));
+                     //    continue;
+                     //  }
 
-                     logger->info("RX:{}", StringUtils().bytesToString((uint8_t *)&canframe, sizeof(canframe)));
+                     logger->info("RX({}):{}", ret, StringUtils().bytesToString((uint8_t *)&canframe, ret));
                    }
                  }));
 }

src/test/test_can.cpp

@@ -57,52 +57,10 @@ class Main {
   }
   void onSIGINT() { exit(0); }
   int  main(int argCount, char* argValues[]) {
-#if 0
-    int                 s, nbytes;
-    struct sockaddr_can addr;
-    struct ifreq        ifr;
-    struct can_frame    frame[2] = {{0}};
-    s                            = socket(PF_CAN, SOCK_RAW, CAN_RAW);
-    printf("send_s = %d\n", s);
-    strcpy(ifr.ifr_name, "can0");
-    ioctl(s, SIOCGIFINDEX, &ifr);
-    addr.can_family  = AF_CAN;
-    addr.can_ifindex = ifr.ifr_ifindex;
-    bind(s, (struct sockaddr*)&addr, sizeof(addr));
-
-    setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
-
-    frame[0].can_id  = 0x11;
-    frame[0].can_dlc = 1;
-    frame[0].data[0] = 'Y';
-    frame[1].can_id  = 0x410;
-    frame[1].can_dlc = 1;
-    frame[1].data[0] = 'N';
-
-    while (1) {
-      nbytes = write(s, &frame[0], sizeof(frame[0]));
-      if (nbytes != sizeof(frame[0])) {
-        printf("Send Error frame[0]!\n");
-        break;
-      }
-
-      sleep(1);
-
-      nbytes = write(s, &frame[1], sizeof(frame[1]));
-      if (nbytes != sizeof(frame[1])) {
-        printf("Send Error frame[1]!\n");
-        break;
-      }
-
-      sleep(1);
-    }
-
-    close(s);
-    while(1) sleep(1000);
-#endif
 
     socketCan.reset(new SocketCan());
     socketCan->initialize("can0", 500000, {});
+    socketCan->startListen();
 
     socketCan->signalOnFrame.connect([this](shared_ptr<CanFrame> canframe) {
       if (canframe) {
@@ -116,11 +74,11 @@ class Main {
     while (!thisThread.getExitFlag()) {
       thisThread.sleepForMs(10);
       uint8_t              data[8]  = {1, 2, 3, 4, 5, 6, 7, 8};
-      shared_ptr<CanFrame> canframe = CanFrame::createExtDataFrame(0x11111111, data, 8);
+      shared_ptr<CanFrame> canframe = CanFrame::createExtDataFrame(0x11223344, data, 8);
       logger->info("TX Frame {}", i);
       socketCan->sendFrame(canframe);
       i++;
-      if (i == 10) {
+      if (i == 30) {
         break;
       }