Linux环境下修改为非阻塞read的CAN之代码示例

一：何为read阻塞

read( ) 函数 —— 终端输入设备的阻塞与非阻塞的设置

read的相关属性	EAGAIN The file descriptor fd refers to a file other than a socket and has been marked non-blocking (O_NONBLOCK), and the write would block.
中文翻译	如果文件描述符不是socket的话，该函数是非阻塞的，否则该函数是阻塞的。
说明	CAN通信为socket时为阻塞 会使得线程卡住

二：如何设置为非阻塞

// 修改CAN通信的嵌套字为非阻塞
 fcntl(lFdCan,F_SETFL,FNDELAY);//用于设置read函数的非阻塞

lFdCan	int嵌套字
F_SETFL	CMD参数

三：代码示例

// An highlighted block
main(int argc, char *argv[])
{
    char buff[100];
    pthread_t lPthreadCan1; //用于挂起CAN3的工作线程
    int lFdCan;
    struct ifreq lIfreq;  //接口请求结构体
    struct sockaddr_can lAddrCan; //can总线的地址 同socket编程里面的 socketaddr结构体 用来设置can外设的信息
    struct can_frame lFrameCan;//要发送的buffer
    char can_dev_name0[16];
    char can_dev_name1[16];


    strcpy(can_dev_name0, "can2");
    strcpy(can_dev_name1, "can3");

    if(argc >= 5)
    {
        strncpy(can_dev_name0, argv[3], sizeof(can_dev_name0));
        strncpy(can_dev_name1, argv[4], sizeof(can_dev_name1));
    }

    sprintf(buff, "ip link set can2 down ");
    system(buff);  //将can2关闭
    sprintf(buff, "ip link set can3 down ");
    system(buff);  //将can3关闭


    sprintf(buff, "ip link set %s up type can bitrate 800000", can_dev_name0);
    system(buff);  //将can2以800k的速率挂起
    sprintf(buff, "ip link set %s up type can bitrate 800000", can_dev_name1);
    system(buff);  //将can3以800k的速率挂起

    pthread_create(&lPthreadCan1, NULL, thread_can1_recive, can_dev_name1);//创建CAN3线程，参数can_dev_name1以CAN3导入
    lFdCan = socket(PF_CAN, SOCK_RAW, CAN_RAW);//创建套接字
    if(lFdCan < 0)
    {
        printf("%s fail: create socket\n", can_dev_name0);
        return -1;
    }
    strcpy(lIfreq.ifr_name, can_dev_name0);
    if(ioctl(lFdCan, SIOCGIFINDEX, &lIfreq)) //指定 can2 设备
    {
        printf("%s fail: ioctl SIOCGIFINDEX\n", can_dev_name0);
        goto ERROR0;
    }

    lAddrCan.can_family = AF_CAN;//协议类型
    lAddrCan.can_ifindex = lIfreq.ifr_ifindex;//can总线外设的具体索引 类似 ip地址
    if(bind(lFdCan, (struct sockaddr*)&lAddrCan, sizeof(lAddrCan)))//将套接字和canbus外设进行绑定,即套接字与 can0 绑定
    {
        goto ERROR0;
    }
	
	 fcntl(lFdCan,F_SETFL,FNDELAY);//用于设置read函数的非阻塞
	
	
    if(setsockopt(lFdCan, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0))//禁用过滤规则，本进程不接收报文，只负责发送
    {
        printf("%s fail: setsockopt CAN_RAW_FILTER\n", can_dev_name0);
    }


    while(recive_done == 0)
    {
        lFrameCan.can_id  = 0x11;//设置地址
        lFrameCan.can_dlc = sprintf((char *)lFrameCan.data, "%s", "alinx");//将alinx写入发送区并赋予can_dlc其长度
        write(lFdCan, &lFrameCan, sizeof(lFrameCan));//发送
        sleep(1);
        lFrameCan.can_id  = 0x12;
        lFrameCan.can_dlc = sprintf((char *)lFrameCan.data, "%s", "alinxa");
        write(lFdCan, &lFrameCan, sizeof(lFrameCan));
        sleep(1);
    }
    if(argc >= 3)
    {
        sprintf(buff, "echo ok >> %s/%s", argv[1], argv[2]);
        system(buff);
    }
    return 0;
ERROR0:
    close(lFdCan);
    return -2;
}