[Krobot-commits] [SCM] krobot branch, master, updated. b628b5a4fac1280c9f818dad667e8ba832222d4d

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit b628b5a4fac1280c9f818dad667e8ba832222d4d
Author: Jérémie Dimino <je...@di...>
Date:   Fri Mar 18 23:18:11 2011 +0100

    [info] correct implementation of timestamps using ioctls

-----------------------------------------------------------------------

Changes:
diff --git a/info/control2011/src/can/can_stubs.c b/info/control2011/src/can/can_stubs.c
index c2a1876..93d63fb 100644
--- a/info/control2011/src/can/can_stubs.c
+++ b/info/control2011/src/can/can_stubs.c
@@ -48,29 +48,19 @@ CAMLprim value ocaml_can_recv(value val_fd)
   CAMLparam1(val_fd);
   CAMLlocal3(val_result, val_frame, val);
 
-  struct msghdr msg;
-  struct iovec iov;
-  uint64_t timestamp;
   struct can_frame frame;
 
-  /* Prepare the IO vector. */
-  iov.iov_base = &frame;
-  iov.iov_len = sizeof(frame);
-
-  /* Prepare the message. */
-  memset(&msg, 0, sizeof(msg));
-  msg.msg_iov = &iov;
-  msg.msg_iovlen = 1;
-  msg.msg_control = &timestamp;
-  msg.msg_controllen = sizeof(timestamp);
-
   /* Receive one frame. */
-  int ret = recvmsg(Int_val(val_fd), &msg, 0);
-  if (ret < 0) uerror("recvmsg", Nothing);
+  int ret = recv(Int_val(val_fd), &frame, sizeof(frame), 0);
+  if (ret < 0) uerror("recv", Nothing);
 
   /* It is an error if we do not receive exactly one frame. */
   if (ret != sizeof(frame)) caml_failwith("recvmsg: invalid size");
 
+  /* Receive the timestamp. */
+  struct timeval tv;
+  if (ioctl(Int_val(val_fd), SIOCGSTAMP, &tv) < 0) uerror("ioctl", Nothing);
+
   /* Build the caml frame. */
   val_frame = caml_alloc_tuple(5);
   Field(val_frame, 0) = Val_int(frame.can_id & CAN_EFF_MASK);
@@ -83,24 +73,18 @@ CAMLprim value ocaml_can_recv(value val_fd)
 
   /* Build the result containing the timestamp and the frame. */
   val_result = caml_alloc_tuple(2);
-  val = caml_copy_double(timestamp * 1e-9);
+  val = caml_copy_double(tv.tv_sec + tv.tv_usec * 1e-6);
   Store_field(val_result, 0, val);
   Store_field(val_result, 1, val_frame);
 
   CAMLreturn(val_result);
 }
 
-CAMLprim value ocaml_can_send(value val_fd, value val_arg)
+CAMLprim value ocaml_can_send(value val_fd, value val_frame)
 {
-  struct msghdr msg;
-  struct iovec iov;
-  uint64_t timestamp;
   struct can_frame frame;
 
-  timestamp = (uint64_t)(Double_val(Field(val_arg, 0)) * 1e9);
-
   /* Build the can frame. */
-  value val_frame = Field(val_arg, 1);
   frame.can_id = Int_val(Field(val_frame, 0)) |
     (Int_val(Field(val_frame, 1)) >> 29) |
     (Int_val(Field(val_frame, 2)) >> 30) |
@@ -109,19 +93,8 @@ CAMLprim value ocaml_can_send(value val_fd, value val_arg)
   frame.can_dlc = caml_string_length(val_data);
   memcpy(frame.data, String_val(val_data), caml_string_length(val_data));
 
-  /* Prepare the IO vector. */
-  iov.iov_base = &frame;
-  iov.iov_len = sizeof(frame);
-
-  /* Prepare the message. */
-  memset(&msg, 0, sizeof(msg));
-  msg.msg_iov = &iov;
-  msg.msg_iovlen = 1;
-  msg.msg_control = &timestamp;
-  msg.msg_controllen = sizeof(timestamp);
-
-  /* Receive one frame. */
-  int ret = sendmsg(Int_val(val_fd), &msg, 0);
+  /* Send the frame. */
+  int ret = send(Int_val(val_fd), &frame, sizeof(frame), 0);
   if (ret < 0) uerror("sendmsg", Nothing);
 
   /* It is an error if we do not sent exactly one frame. */
diff --git a/info/control2011/src/can/krobot_can_bus.ml b/info/control2011/src/can/krobot_can_bus.ml
index b3b88db..f0c419f 100644
--- a/info/control2011/src/can/krobot_can_bus.ml
+++ b/info/control2011/src/can/krobot_can_bus.ml
@@ -46,10 +46,10 @@ let close bus = bus#close
    +-----------------------------------------------------------------+ *)
 
 external can_recv : Unix.file_descr -> float * Krobot_can.frame = "ocaml_can_recv"
-external can_send : Unix.file_descr -> float * Krobot_can.frame -> unit = "ocaml_can_send"
+external can_send : Unix.file_descr -> Krobot_can.frame -> unit = "ocaml_can_send"
 
 let recv bus =
   Lwt_unix.wrap_syscall Lwt_unix.Read bus#fd (fun () -> can_recv (Lwt_unix.unix_file_descr bus#fd))
 
-let send bus arg =
-  Lwt_unix.wrap_syscall Lwt_unix.Write bus#fd (fun () -> can_send (Lwt_unix.unix_file_descr bus#fd) arg)
+let send bus (_, frame) =
+  Lwt_unix.wrap_syscall Lwt_unix.Write bus#fd (fun () -> can_send (Lwt_unix.unix_file_descr bus#fd) frame)


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