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[hal] Use new canbus names for systemcore (#8022)

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The canbus names are changing to ensure stable ordering.
This commit is contained in:
Thad House
2025-06-13 21:30:42 -07:00
committed by GitHub
parent fbbc4bc53c
commit fbee476fd2
1 changed files with 10 additions and 2 deletions
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12
hal/src/main/native/systemcore/CAN.cpp
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@@ -19,6 +19,7 @@
#include <wpi/DenseMap.h>
#include <wpi/mutex.h>
#include <wpi/print.h>
#include <wpi/timestamp.h>
#include "PortsInternal.h"
@@ -108,21 +109,25 @@ bool SocketCanState::InitializeBuses() {
int32_t status = 0;
HAL_SetCurrentThreadPriority(true, 50, &status);
if (status != 0) {
std::printf("Failed to set CAN thread priority\n");
wpi::print("Failed to set CAN thread priority\n");
}
for (int i = 0; i < hal::kNumCanBuses; i++) {
std::scoped_lock lock{writeMutex[i]};
socketHandle[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (socketHandle[i] == -1) {
wpi::print("socket() for CAN {} failed with {}\n", i,
std::strerror(errno));
success = false;
return;
}
ifreq ifr;
std::snprintf(ifr.ifr_name, sizeof(ifr.ifr_name), "can%d", i);
std::snprintf(ifr.ifr_name, sizeof(ifr.ifr_name), "can_s%d", i);
if (ioctl(socketHandle[i], SIOCGIFINDEX, &ifr) == -1) {
wpi::print("ioctl(SIOCGIFINDEX) for CAN {} failed with {}\n",
ifr.ifr_name, std::strerror(errno));
success = false;
return;
}
@@ -134,12 +139,15 @@ bool SocketCanState::InitializeBuses() {
if (bind(socketHandle[i], reinterpret_cast<const sockaddr*>(&addr),
sizeof(addr)) == -1) {
wpi::print("bind() for CAN {} failed with {}\n", ifr.ifr_name,
std::strerror(errno));
success = false;
return;
}
auto poll = wpi::uv::Poll::Create(loop, socketHandle[i]);
if (!poll) {
wpi::print("wpi::uv::Poll::Create for CAN {} failed\n", ifr.ifr_name);
success = false;
return;
}