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Remove initialized flag in CAN socket class (#16)

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Removed the redundant `initialized_` flag, which was not properly set or
unset when the `CANSocket` class was reinitialized. It has been replaced
with a direct check on `socket_fd_`. Additionally, `socket_fd_` is now
always reset after being closed.

Signed-off-by: Alfi Maulana <alfi.maulana.f@gmail.com>
This commit is contained in:
Alfi Maulana 2025-08-11 16:36:36 +08:00 committed by GitHub
parent ae54e19dff
commit 54c5a295d2
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
2 changed files with 12 additions and 14 deletions
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3
include/openarm/canbus/can_socket.hpp
View File

@ -45,7 +45,7 @@ public:
int get_socket_fd() const { return socket_fd_; }
const std::string& get_interface() const { return interface_; }
bool is_canfd_enabled() const { return fd_enabled_; }
bool is_initialized() const { return initialized_; }
bool is_initialized() const { return socket_fd_ >= 0; }
// Direct frame operations for Python bindings
ssize_t read_raw_frame(void* buffer, size_t buffer_size);
@ -69,7 +69,6 @@ protected:
int socket_fd_;
std::string interface_;
bool fd_enabled_;
bool initialized_;
};
} // namespace openarm::canbus

23
src/openarm/canbus/can_socket.cpp
View File

@ -27,11 +27,10 @@
namespace openarm::canbus {
CANSocket::CANSocket(const std::string& interface, bool enable_fd)
: socket_fd_(-1), interface_(interface), fd_enabled_(enable_fd), initialized_(false) {
: socket_fd_(-1), interface_(interface), fd_enabled_(enable_fd) {
if (!initialize_socket(interface)) {
throw CANSocketException("Failed to initialize socket for interface: " + interface);
}
initialized_ = true;
}
CANSocket::~CANSocket() { cleanup(); }
@ -50,7 +49,7 @@ bool CANSocket::initialize_socket(const std::string& interface) {
ifr.ifr_name[IFNAMSIZ - 1] = '\0';
if (ioctl(socket_fd_, SIOCGIFINDEX, &ifr) < 0) {
close(socket_fd_);
cleanup();
return false;
}
@ -62,13 +61,13 @@ bool CANSocket::initialize_socket(const std::string& interface) {
int enable_canfd = 1;
if (setsockopt(socket_fd_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &enable_canfd,
sizeof(enable_canfd)) < 0) {
close(socket_fd_);
cleanup();
return false;
}
}
if (bind(socket_fd_, reinterpret_cast<struct sockaddr*>(&addr), sizeof(addr)) < 0) {
close(socket_fd_);
cleanup();
return false;
}
@ -76,7 +75,7 @@ bool CANSocket::initialize_socket(const std::string& interface) {
timeout.tv_sec = 0;
timeout.tv_usec = 100;
if (setsockopt(socket_fd_, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof(timeout)) < 0) {
close(socket_fd_);
cleanup();
return false;
}
@ -84,19 +83,19 @@ bool CANSocket::initialize_socket(const std::string& interface) {
}
void CANSocket::cleanup() {
if (socket_fd_ > 0) {
if (socket_fd_ >= 0) {
close(socket_fd_);
socket_fd_ = -1;
}
}
ssize_t CANSocket::read_raw_frame(void* buffer, size_t buffer_size) {
if (!initialized_) return -1;
if (!is_initialized()) return -1;
return read(socket_fd_, buffer, buffer_size);
}
ssize_t CANSocket::write_raw_frame(const void* buffer, size_t frame_size) {
if (!initialized_) return -1;
if (!is_initialized()) return -1;
return write(socket_fd_, buffer, frame_size);
}
@ -109,19 +108,19 @@ bool CANSocket::write_canfd_frame(const canfd_frame& frame) {
}
bool CANSocket::read_can_frame(can_frame& frame) {
if (!initialized_) return false;
if (!is_initialized()) return false;
ssize_t bytes_read = read(socket_fd_, &frame, sizeof(frame));
return bytes_read == sizeof(frame);
}
bool CANSocket::read_canfd_frame(canfd_frame& frame) {
if (!initialized_) return false;
if (!is_initialized()) return false;
ssize_t bytes_read = read(socket_fd_, &frame, sizeof(frame));
return bytes_read == sizeof(frame);
}
bool CANSocket::is_data_available(int timeout_us) {
if (!initialized_) return false;
if (!is_initialized()) return false;
fd_set read_fds;
struct timeval timeout;