Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add payload lenght on CAN messages #298

Merged
merged 11 commits into from
Dec 14, 2021
Merged

Add payload lenght on CAN messages #298

Show file tree
Hide file tree
Changes from 2 commits
Commits
Show all changes
11 commits
Select commit Hold shift + click to select a range
dff1d27
Add payload lenght on message
Acuadros95 Dec 10, 2021
3f0e415
Fix warning
Acuadros95 Dec 10, 2021
06ab72b
Fix CAN DLC
Acuadros95 Dec 13, 2021
df2513b
Uncrustify
Acuadros95 Dec 13, 2021
f1c3a59
Fix write/recv size
Acuadros95 Dec 13, 2021
986d879
Fix frame used
Acuadros95 Dec 13, 2021
8a4ab16
Separate last fragment on CREATE messages
Acuadros95 Dec 13, 2021
b170c0c
Update test
Acuadros95 Dec 13, 2021
1177f98
Initialize test values
Acuadros95 Dec 13, 2021
d2a609e
Revert changes
Acuadros95 Dec 13, 2021
22baff8
Missing revert
Acuadros95 Dec 13, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion include/uxr/client/profile/transport/can/can_transport.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ extern "C"
#include <uxr/client/visibility.h>
#include <uxr/client/transport.h>

#define UXR_CONFIG_CAN_TRANSPORT_MTU 64
#define UXR_CONFIG_CAN_TRANSPORT_MTU 63

typedef struct uxrCANTransport
{
Expand Down
10 changes: 6 additions & 4 deletions src/c/profile/transport/can/can_transport_posix.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,9 @@ size_t uxr_write_can_data_platform(

if (0 < poll_rv)
{
memcpy(&frame.data[0], buf, len);
memcpy(&frame.data[1], buf, len);
frame.data[0] = (uint8_t) len;

ssize_t bytes_sent = write(poll_fd_write_.fd, &frame, CANFD_MTU);

if (-1 != bytes_sent)
Expand Down Expand Up @@ -117,10 +119,10 @@ size_t uxr_read_can_data_platform(
{
ssize_t bytes_received = read(platform->poll_fd.fd, &frame, CANFD_MTU);

if (-1 != bytes_received)
if (-1 != bytes_received && frame.data[0] < CANFD_MTU)
{
memcpy(buf, &frame.data[0], frame.len);
rv = (size_t)frame.len;
memcpy(buf, &frame.data[1], frame.data[0]);
rv = (size_t) frame.data[0];
*errcode = 0;
}
else
Expand Down