Added more error handling to burt_can

BinghamtonRover · Sep 27, 2023 · 9b63f06 · 9b63f06
1 parent 6f67b94
commit 9b63f06
Show file tree

Hide file tree

Showing 4 changed files with 24 additions and 6 deletions.
diff --git a/lib/src/can/socket_ffi.dart b/lib/src/can/socket_ffi.dart
@@ -57,7 +57,7 @@ class CanFFI implements CanSocket {
     final error = getCanError(nativeLib.BurtCan_open(_can));
     if (error != null) throw CanException(error);
     _startListening(); 
-
+    logger.info("Listening on CAN interface $canInterface");
   }
 
   @override
@@ -79,7 +79,8 @@ class CanFFI implements CanSocket {
     int count = 0;
     while (true) {
       final pointer = nativeLib.NativeCanMessage_create();
-      nativeLib.BurtCan_receive(_can, pointer);
+      final error = getCanError(nativeLib.BurtCan_receive(_can, pointer));
+      if (error != null) throw CanException(error);
       if (pointer.ref.length == 0) return;
       count++;
       if (count == 10) logger.warning("Processed over 10 CAN messages in one callback. Consider decreasing the CAN read interval.");

diff --git a/lib/subsystems.dart b/lib/subsystems.dart
@@ -15,6 +15,7 @@ class SubsystemsCollection {
 
 	/// Initializes all the resources needed by the subsystems.
 	Future<void> init() async {
+		logger.debug("Running in debug mode...");
 		can.init();
 		await server.init();
 		logger.info("Subsystems initialized");

diff --git a/src/burt_can/burt_can.cpp b/src/burt_can/burt_can.cpp
@@ -16,6 +16,10 @@
 
 #include "burt_can.hpp"
 
+void printError() {
+	std::cout << "Error from C code: " << strerror(errno) << std::endl;
+}
+
 burt_can::BurtCan::BurtCan(const char* interface, int32_t readTimeout, BurtCanType mode) :
 	interface(interface),
 	readTimeout(readTimeout),
@@ -29,13 +33,15 @@ BurtCanStatus burt_can::BurtCan::open() {
 	// Open the socket
 	handle = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 	if (handle < 0) {
+		printError();
 		return BurtCanStatus::SOCKET_CREATE_ERROR;
 	}
 
 	// Define the interface we'll use on the socket
 	strcpy(ifr.ifr_name, interface);
 	ioctl(handle, SIOCGIFINDEX, &ifr);
 	if (!ifr.ifr_ifindex) {
+		printError();
 		return BurtCanStatus::INTERFACE_PARSE_ERROR;
 	}
 
@@ -44,10 +50,13 @@ BurtCanStatus burt_can::BurtCan::open() {
 		int enableFD = 1;
 
 		if (ioctl(handle, SIOCGIFMTU, &ifr) < 0) {
+			printError();
 			return BurtCanStatus::MTU_ERROR;
 		} else if (mtu != CANFD_MTU) {
+			printError();
 			return BurtCanStatus::CANFD_NOT_SUPPORTED;
 		} else if (setsockopt(handle, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &enableFD, sizeof(enableFD))) {
+			printError();
 			return BurtCanStatus::FD_MISC_ERROR;
 		}
 	}
@@ -62,6 +71,7 @@ BurtCanStatus burt_can::BurtCan::open() {
 
 	// Bind the socket to the address
 	if (bind(handle, (struct sockaddr*) &address, sizeof(address)) < 0) {
+		printError();
 		return BurtCanStatus::BIND_ERROR;
 	}
 	return BurtCanStatus::OK;
@@ -77,25 +87,30 @@ BurtCanStatus burt_can::BurtCan::send(const NativeCanMessage* frame) {
 	if (write(handle, &raw, size) == size) {
 		return BurtCanStatus::OK;
 	} else {
+		printError();
 		return BurtCanStatus::WRITE_ERROR;
 	}
 }
 
 BurtCanStatus burt_can::BurtCan::receive(NativeCanMessage* frame) {
 	can_frame raw;
-	int size = sizeof(raw);
-	if (read(handle, &raw, size) == size) {
+	long bytesRead = read(handle, &raw, sizeof(raw));
+	if (bytesRead < 0) {
+		printError();
+		return BurtCanStatus::READ_ERROR;
+	} else if (bytesRead < (long) sizeof(raw)) {
+		return BurtCanStatus::FRAME_NOT_FULLY_READ;
+	} else {
 		frame->id = raw.can_id;
 		frame->length = raw.len;
 		std::memcpy(frame->data, raw.data, 8);
 		return BurtCanStatus::OK;
-	} else {
-		return BurtCanStatus::READ_ERROR;
 	}
 }
 
 BurtCanStatus burt_can::BurtCan::dispose() {
 	if (close(handle) < 0) {
+		printError();
 		return BurtCanStatus::CLOSE_ERROR;
 	} else {
 		return BurtCanStatus::OK;

diff --git a/src/burt_can/burt_can.h b/src/burt_can/burt_can.h
@@ -24,6 +24,7 @@ typedef enum BurtCanStatus {
 	// IO errors
 	WRITE_ERROR = 9,
 	READ_ERROR = 10,
+	FRAME_NOT_FULLY_READ = 11,
 } BurtCanStatus;
 
 typedef struct NativeCanMessage {