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support sub-second timeouts #3

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support sub-second timeouts #3

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18 changes: 12 additions & 6 deletions canopen/can-if.c
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Original file line number Diff line number Diff line change
Expand Up @@ -37,10 +37,17 @@ can_socket_open(char *interface)

int
can_socket_open_timeout(char *interface, unsigned int timeout_sec)
{
struct timeval tv= {timeout_sec,0};

return can_socket_open_timeval(interface, tv);
}

int
can_socket_open_timeval(char *interface, struct timeval tv)
{
struct sockaddr_can addr;
struct ifreq ifr;
struct timeval tv= {timeout_sec,0};
int sock, bytes_read;

// create CAN socket
Expand All @@ -49,9 +56,9 @@ can_socket_open_timeout(char *interface, unsigned int timeout_sec)
fprintf(stderr, "Error: Failed to create socket.\n");
return -1;
}
// set a timeoute for read
if (timeout_sec != 0)

// set a timeout for read
if (tv.tv_sec != 0 || tv.tv_usec != 0)
{
setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, (char *)&tv, sizeof(tv));
}
Expand All @@ -62,11 +69,10 @@ can_socket_open_timeout(char *interface, unsigned int timeout_sec)
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
bind(sock, (struct sockaddr*)&addr, sizeof(addr)); // XXX Add check

return sock;
}


int
can_socket_close(int socket)
{
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1 change: 1 addition & 0 deletions canopen/can-if.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@

int can_socket_open(char *interface);
int can_socket_open_timeout(char *interface, unsigned int timeout_sec);
int can_socket_open_timeval(char *interface, struct timeval timeout);
int can_socket_close(int socket);

int can_filter_node_set(int socket, uint8_t node);
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14 changes: 12 additions & 2 deletions python/pycanopen/CANopen.py
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Original file line number Diff line number Diff line change
Expand Up @@ -88,22 +88,32 @@ def __str__(self):
data_str = " ".join(["%.2x" % (x,) for x in self.data.data])
return "CANopen Frame: RTR=%d FC=0x%.2x ID=0x%.2x [len=%d] %s" % (self.rtr, self.function_code, self.id, self.data_len, data_str)

class timeval(Structure):
_fields_ = [("tv_sec", c_long),
("tv_usec", c_long)]

class CANopen:

def __init__(self, interface="can0", timeout_sec=0):
"""
Constructor for CANopen class. Optionally takes an interface
name for which to bind a socket to. Defaults to interface "can0"
"""
self.sock = libcanopen.can_socket_open_timeout(interface.encode('ascii'), timeout_sec)
tv = timeval()
tv.tv_sec = int(timeout_sec)
tv.tv_usec = int((timeout_sec - tv.tv_sec) * 1e06)
self.sock = libcanopen.can_socket_open_timeval(interface.encode('ascii'), tv)

def open(self, interface, timeout_sec=0):
"""
Open a new socket. If open socket already exist, close it first.
"""
if self.sock:
self.close()
self.sock = libcanopen.can_socket_open_timeout(interface.encode('ascii'), timeout_sec)
tv = timeval()
tv.tv_sec = int(timeout_sec)
tv.tv_usec = int((timeout_sec - tv.tv_sec) * 1e06)
self.sock = libcanopen.can_socket_open_timeval(interface.encode('ascii'), tv)

def close(self):
"""
Expand Down