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fix(uavcan): Change SocketCAN return code handling

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Don't forward posix return codes and parse errno instead so api knows
it neeeds to do a retry instead of a discard
This commit is contained in:
Peter van der Perk
2026-04-01 10:30:21 +02:00
committed by Peter van der Perk
parent 61f08771a7
commit 9aefd9058d
1 changed files with 13 additions and 5 deletions
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src/drivers/uavcan/uavcan_drivers/socketcan/driver/src/socketcan.cpp
+13 -5
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@@ -200,7 +200,11 @@ uavcan::int16_t CanIface::send(const uavcan::CanFrame &frame, uavcan::MonotonicT
return 1; return 1;
} else { } else {
return res; if (errno == ENOBUFS || errno == EAGAIN || errno == EWOULDBLOCK) {
return 0; // Transmit queue is full, retry
}
return -1;
} }
} }
@@ -210,7 +214,11 @@ uavcan::int16_t CanIface::receive(uavcan::CanFrame &out_frame, uavcan::Monotonic
int32_t result = recvmsg(_fd, &_recv_msg, MSG_DONTWAIT); int32_t result = recvmsg(_fd, &_recv_msg, MSG_DONTWAIT);
if (result < 0) { if (result < 0) {
return result; if (errno == EAGAIN || errno == EWOULDBLOCK) {
return 0;
}
return -1;
} }
/* Copy SocketCAN frame to CanardFrame */ /* Copy SocketCAN frame to CanardFrame */
@@ -220,7 +228,7 @@ uavcan::int16_t CanIface::receive(uavcan::CanFrame &out_frame, uavcan::Monotonic
out_frame.id = recv_frame->can_id; out_frame.id = recv_frame->can_id;
if (recv_frame->len > CANFD_MAX_DLEN) { if (recv_frame->len > CANFD_MAX_DLEN) {
return -EFAULT; return -1;
} }
out_frame.dlc = recv_frame->len; out_frame.dlc = recv_frame->len;
@@ -231,7 +239,7 @@ uavcan::int16_t CanIface::receive(uavcan::CanFrame &out_frame, uavcan::Monotonic
out_frame.id = recv_frame->can_id; out_frame.id = recv_frame->can_id;
if (recv_frame->can_dlc > CAN_MAX_DLEN) { if (recv_frame->can_dlc > CAN_MAX_DLEN) {
return -EFAULT; return -1;
} }
out_frame.dlc = recv_frame->can_dlc; out_frame.dlc = recv_frame->can_dlc;
@@ -245,7 +253,7 @@ uavcan::int16_t CanIface::receive(uavcan::CanFrame &out_frame, uavcan::Monotonic
out_ts_monotonic = uavcan::MonotonicTime::fromUSec(tv->tv_sec * 1000000ULL + tv->tv_usec); out_ts_monotonic = uavcan::MonotonicTime::fromUSec(tv->tv_sec * 1000000ULL + tv->tv_usec);
} }
return result; return 1;
} }