# HG changeset patch
# User etisserant
# Date 1179044990 -7200
# Node ID 65aa7a664f6f210dad81472548b8aad5b9f4e8eb
# Parent  1510dd61ead01ba626bd77ecdcf5f78bab161c88
Applied wolfgang changes, and re-indented socket_can.c file

diff -r 1510dd61ead0 -r 65aa7a664f6f drivers/can_socket/can_socket.c
--- a/drivers/can_socket/can_socket.c	Sun May 13 10:29:08 2007 +0200
+++ b/drivers/can_socket/can_socket.c	Sun May 13 10:29:50 2007 +0200
@@ -23,7 +23,7 @@
 #include <stdio.h>
 #include <string.h>
 #include <stdlib.h>
-#include <stddef.h> /* for NULL */
+#include <stddef.h>		/* for NULL */
 #include <errno.h>
 
 #include "config.h"
@@ -37,6 +37,7 @@
 #define CAN_SEND       rt_dev_send
 #define CAN_BIND       rt_dev_bind
 #define CAN_IOCTL      rt_dev_ioctl
+#define CAN_ERRNO(err) (-err)
 #else
 #include <sys/socket.h>
 #include <sys/ioctl.h>
@@ -53,164 +54,183 @@
 #define CAN_SEND       send
 #define CAN_BIND       bind
 #define CAN_IOCTL      ioctl
+#define CAN_ERRNO(err) errno
 #endif
 
 #include "can_driver.h"
 
 /*********functions which permit to communicate with the board****************/
-UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
-{
-       int res;
-       struct can_frame frame;
-
-       res = CAN_RECV(*(int*)fd0, &frame, sizeof(frame), 0);
-       if (res < 0)
-               return 1;
-
-       m->cob_id.w = frame.can_id & CAN_EFF_MASK;
-       m->len      = frame.can_dlc;
-       if (frame.can_id & CAN_RTR_FLAG)
-               m->rtr = 1;
-       else
-               m->rtr = 0;
-       memcpy(m->data, frame.data, 8);
-
-       return 0;
-}
-
-
-/***************************************************************************/
-UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
-{
-       int res;
-       struct can_frame frame;
-
-       frame.can_id = m->cob_id.w;
-       if (frame.can_id >= 0x800)
-               frame.can_id |= CAN_EFF_FLAG;
-       frame.can_dlc = m->len;
-       if (m->rtr)
-               frame.can_id |= CAN_RTR_FLAG;
-       else
-               memcpy(frame.data, m->data, 8);
-
-       res = CAN_SEND(*(int*)fd0, &frame, sizeof(frame), 0);
-       if (res < 0)
-               return 1;
-
-       return 0;
-}
-
-/***************************************************************************/
-#ifdef RTCAN_SOCKET
-int TranslateBaudRate(const char* optarg) {
-       int baudrate;
-       int val, len;
-       char *pos = NULL;
-
-       len = strlen(optarg);
-       if (!len)
-               return 0;
-
-       switch ((int)optarg[len - 1]) {
-       case 'M':
-               baudrate =  1000000;
-               break;
-       case 'K':
-               baudrate =  1000;
-               break;
-       default:
-               baudrate = 1;
-               break;
-       }
-       if ((sscanf(optarg, "%i", &val)) == 1)
-               baudrate *= val;
-       else
-               baudrate = 0;;
-
-       printf("baudrate=%d (%s)\n", baudrate, optarg);
-       return baudrate;
-}
-#endif
-
-/***************************************************************************/
-CAN_HANDLE canOpen_driver(s_BOARD *board)
-{
-       struct ifreq ifr;
-       struct sockaddr_can addr;
-       int err;
-       CAN_HANDLE fd0 = malloc(sizeof(int));
-#ifdef RTCAN_SOCKET
-       can_baudrate_t *baudrate;
-       can_mode_t *mode;
-#endif
-
-       *(int*)fd0 = CAN_SOCKET(PF_CAN, SOCK_RAW, CAN_RAW);
-       if (*(int*)fd0 < 0) {
-               perror("Socket creation failed");
-               goto error_ret;
-       }
-
-       if (*board->busname >= '0' && *board->busname <= '9')
-               snprintf(ifr.ifr_name, IFNAMSIZ, CAN_IFNAME,
-                        board->busname);
-       else
-               strncpy(ifr.ifr_name, board->busname, IFNAMSIZ);
-       err = CAN_IOCTL(*(int*)fd0, SIOCGIFINDEX, &ifr);
-       if (err) {
-               fprintf(stderr, "Getting IF index for %s failed: %s\n",
-                       ifr.ifr_name, strerror(errno));
-               goto error_close;
-       }
-
-       addr.can_family  = AF_CAN;
-       addr.can_ifindex = ifr.ifr_ifindex;
-       err = CAN_BIND(*(int*)fd0, (struct sockaddr *)&addr,
-                             sizeof(addr));
-       if (err) {
-               perror("Binding failed");
-               goto error_close;
-       }
-
-#ifdef RTCAN_SOCKET
-       baudrate = (can_baudrate_t *)&ifr.ifr_ifru;
-       *baudrate = TranslateBaudRate(board->baudrate);
-       if (!*baudrate)
-               goto error_close;
-
-       err = CAN_IOCTL(*(int*)fd0, SIOCSCANBAUDRATE, &ifr);
-       if (err) {
-               fprintf(stderr,
-                       "Setting baudrate %d failed: %s\n",
-                       *baudrate, strerror(errno));
-               goto error_close;
-       }
-
-       mode = (can_mode_t *)&ifr.ifr_ifru;
-       *mode = CAN_MODE_START;
-       err = CAN_IOCTL(*(int*)fd0, SIOCSCANMODE, &ifr);
-       if (err) {
-               perror("Starting CAN device failed");
-               goto error_close;
-       }
-#endif
-
-       return fd0;
-
- error_close:
-       CAN_CLOSE(*(int*)fd0);
-
- error_ret:
-       free(fd0);
-       return NULL;
-}
-
-/***************************************************************************/
-int canClose_driver(CAN_HANDLE fd0)
-{
-       if (fd0) {
-               CAN_CLOSE(*(int*)fd0);
-               free(fd0);
-       }
-       return 0;
-}
+UNS8
+canReceive_driver (CAN_HANDLE fd0, Message * m)
+{
+  int res;
+  struct can_frame frame;
+
+  res = CAN_RECV (*(int *) fd0, &frame, sizeof (frame), 0);
+  if (res < 0)
+    {
+      fprintf (stderr, "Recv failed: %s\n", strerror (CAN_ERRNO (res)));
+      return 1;
+    }
+
+  m->cob_id.w = frame.can_id & CAN_EFF_MASK;
+  m->len = frame.can_dlc;
+  if (frame.can_id & CAN_RTR_FLAG)
+    m->rtr = 1;
+  else
+    m->rtr = 0;
+  memcpy (m->data, frame.data, 8);
+
+  return 0;
+}
+
+
+/***************************************************************************/
+UNS8
+canSend_driver (CAN_HANDLE fd0, Message * m)
+{
+  int res;
+  struct can_frame frame;
+
+  frame.can_id = m->cob_id.w;
+  if (frame.can_id >= 0x800)
+    frame.can_id |= CAN_EFF_FLAG;
+  frame.can_dlc = m->len;
+  if (m->rtr)
+    frame.can_id |= CAN_RTR_FLAG;
+  else
+    memcpy (frame.data, m->data, 8);
+
+  res = CAN_SEND (*(int *) fd0, &frame, sizeof (frame), 0);
+  if (res < 0)
+    {
+      fprintf (stderr, "Send failed: %s\n", strerror (CAN_ERRNO (res)));
+      return 1;
+    }
+
+  return 0;
+}
+
+/***************************************************************************/
+#ifdef RTCAN_SOCKET
+int
+TranslateBaudRate (const char *optarg)
+{
+  int baudrate;
+  int val, len;
+  char *pos = NULL;
+
+  len = strlen (optarg);
+  if (!len)
+    return 0;
+
+  switch ((int) optarg[len - 1])
+    {
+    case 'M':
+      baudrate = 1000000;
+      break;
+    case 'K':
+      baudrate = 1000;
+      break;
+    default:
+      baudrate = 1;
+      break;
+    }
+  if ((sscanf (optarg, "%i", &val)) == 1)
+    baudrate *= val;
+  else
+    baudrate = 0;;
+
+  return baudrate;
+}
+#endif
+
+/***************************************************************************/
+CAN_HANDLE
+canOpen_driver (s_BOARD * board)
+{
+  struct ifreq ifr;
+  struct sockaddr_can addr;
+  int err;
+  CAN_HANDLE fd0 = malloc (sizeof (int));
+#ifdef RTCAN_SOCKET
+  can_baudrate_t *baudrate;
+  can_mode_t *mode;
+#endif
+
+  *(int *) fd0 = CAN_SOCKET (PF_CAN, SOCK_RAW, CAN_RAW);
+  if (*(int *) fd0 < 0)
+    {
+      fprintf (stderr, "Socket creation failed: %s\n",
+	       strerror (CAN_ERRNO (*(int *) fd0)));
+      goto error_ret;
+    }
+
+  if (*board->busname >= '0' && *board->busname <= '9')
+    snprintf (ifr.ifr_name, IFNAMSIZ, CAN_IFNAME, board->busname);
+  else
+    strncpy (ifr.ifr_name, board->busname, IFNAMSIZ);
+  err = CAN_IOCTL (*(int *) fd0, SIOCGIFINDEX, &ifr);
+  if (err)
+    {
+      fprintf (stderr, "Getting IF index for %s failed: %s\n",
+	       ifr.ifr_name, strerror (CAN_ERRNO (err)));
+      goto error_close;
+    }
+
+  addr.can_family = AF_CAN;
+  addr.can_ifindex = ifr.ifr_ifindex;
+  err = CAN_BIND (*(int *) fd0, (struct sockaddr *) &addr, sizeof (addr));
+  if (err)
+    {
+      fprintf (stderr, "Binding failed: %s\n", strerror (CAN_ERRNO (err)));
+      goto error_close;
+    }
+
+#ifdef RTCAN_SOCKET
+  baudrate = (can_baudrate_t *) & ifr.ifr_ifru;
+  *baudrate = TranslateBaudRate (board->baudrate);
+  if (!*baudrate)
+    goto error_close;
+
+  err = CAN_IOCTL (*(int *) fd0, SIOCSCANBAUDRATE, &ifr);
+  if (err)
+    {
+      fprintf (stderr,
+	       "Setting baudrate %d failed: %s\n",
+	       *baudrate, strerror (CAN_ERRNO (err)));
+      goto error_close;
+    }
+
+  mode = (can_mode_t *) & ifr.ifr_ifru;
+  *mode = CAN_MODE_START;
+  err = CAN_IOCTL (*(int *) fd0, SIOCSCANMODE, &ifr);
+  if (err)
+    {
+      fprintf (stderr, "Starting CAN device failed: %s\n",
+	       strerror (CAN_ERRNO (err)));
+      goto error_close;
+    }
+#endif
+
+  return fd0;
+
+error_close:
+  CAN_CLOSE (*(int *) fd0);
+
+error_ret:
+  free (fd0);
+  return NULL;
+}
+
+/***************************************************************************/
+int
+canClose_driver (CAN_HANDLE fd0)
+{
+  if (fd0)
+    {
+      CAN_CLOSE (*(int *) fd0);
+      free (fd0);
+    }
+  return 0;
+}