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fix(socket_can_receiver): support variable-length CAN FD frames #50

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merged 5 commits into from
Sep 25, 2024
Merged

fix(socket_can_receiver): support variable-length CAN FD frames #50

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2bbdba4
feat: changes for continental srr520
knzo25 Mar 5, 2024
73bae2f
fix: unsafe read fix and added comments regarding smaller fd frames
knzo25 Sep 19, 2024
39ada3d
Update ros2_socketcan/src/socket_can_receiver.cpp
knzo25 Sep 19, 2024
36738f5
Update ros2_socketcan/src/socket_can_receiver.cpp
knzo25 Sep 25, 2024
8ca631c
move frame lenght check after making sure it read enough
Sep 25, 2024
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2 changes: 2 additions & 0 deletions ros2_socketcan/launch/socket_can_bridge.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,12 +6,14 @@
<arg name="enable_can_fd" default="false" />
<arg name="from_can_bus_topic" default="from_can_bus" />
<arg name="to_can_bus_topic" default="to_can_bus" />
<arg name="use_bus_time" default="false" />

<include file="$(find-pkg-share ros2_socketcan)/launch/socket_can_receiver.launch.py">
<arg name="interface" value="$(var interface)" />
<arg name="interval_sec" value="$(var receiver_interval_sec)" />
<arg name="enable_can_fd" value="$(var enable_can_fd)" />
<arg name="from_can_bus_topic" value="$(var from_can_bus_topic)" />
<arg name="use_bus_time" value="$(var use_bus_time)" />
</include>

<include file="$(find-pkg-share ros2_socketcan)/launch/socket_can_sender.launch.py">
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9 changes: 4 additions & 5 deletions ros2_socketcan/src/socket_can_receiver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -171,18 +171,17 @@ CanId SocketCanReceiver::receive_fd(void * const data, const std::chrono::nanose
// Read
struct canfd_frame frame;
const auto nbytes = read(m_file_descriptor, &frame, sizeof(frame));
const auto data_length = static_cast<CanId::LengthT>(frame.len);
const auto expected_length = sizeof(frame) - sizeof(frame.data) + data_length;

// Checks
if (nbytes < 0) {
throw std::runtime_error{strerror(errno)};
}
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if (static_cast<std::size_t>(nbytes) < sizeof(frame)) {
if (static_cast<std::size_t>(nbytes) < expected_length) {
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throw std::runtime_error{"read: incomplete CAN FD frame"};
}
if (static_cast<std::size_t>(nbytes) != sizeof(frame)) {
throw std::logic_error{"Message was wrong size"};
}
// Write
const auto data_length = static_cast<CanId::LengthT>(frame.len);
(void)std::memcpy(data, static_cast<void *>(&frame.data[0U]), data_length);

// get bus timestamp
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