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75 lines
2.2 KiB
C
75 lines
2.2 KiB
C
/*
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* This file is part of the SocketCAN project.
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* Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdio.h>
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#include <usefull_macros.h>
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#include "can_io.h"
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#include "daemon.h"
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#include "cmdlnopts.h"
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#include "server.h"
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#include "sslsock.h"
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int can_inited = 0;
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static int try2initBTAcan(){
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static double t0 = 0., t1 = 0.;
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can_inited = 0;
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if(dtime() - t1 < 1.) return 0; // try not more then once per second
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t1 = dtime();
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if(!init_can_io() || !can_ok()){
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if(dtime() - t0 > 30.){ // show errors not more than onse per 30s
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LOGERR("Can't init CAN bus, will try later");
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WARNX("Can't init CAN bus");
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t0 = dtime();
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}
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}else{
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can_inited = 1;
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int rxpnt; double rxtime;
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can_clean_recv(&rxpnt, &rxtime);
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}
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return can_inited;
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}
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// read next message from CAN
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// @parameter pk - packet (allocated outside)
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// @return pointer to pk or NULL if none/error
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can_packet *readBTAcan(can_packet *pk){
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if((!can_inited || !can_ok()) && !try2initBTAcan()) return NULL;
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int rxpnt, idr, len;
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double rxtime;
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if(!can_recv_frame(&rxpnt, &rxtime, &idr, &len, pk->data)) return NULL;
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if((idr & ID_MASK) == ID_DOME){
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pk->ID = (uint16_t)idr;
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pk->len = (uint8_t)len;
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pk->magick = CANMAGICK;
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return pk;
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}
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return NULL;
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}
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int main(int argc, char **argv){
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char *self = argv[0];
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initial_setup();
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parse_args(argc, argv);
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#ifdef EBUG
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#endif
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try2initBTAcan();
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return start_daemon(self);
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}
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