300 lines
9.0 KiB
C
300 lines
9.0 KiB
C
/****************************************************************************
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* net/can/can_sendmsg.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#if defined(CONFIG_NET) && defined(CONFIG_NET_CAN)
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <string.h>
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#include <errno.h>
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#include <debug.h>
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#include <arch/irq.h>
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#include <nuttx/semaphore.h>
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#include <nuttx/net/netdev.h>
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#include <nuttx/net/net.h>
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#include <nuttx/net/ip.h>
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#include "netdev/netdev.h"
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#include "devif/devif.h"
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#include "socket/socket.h"
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#include "can/can.h"
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#include <sys/time.h>
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/* This structure holds the state of the send operation until it can be
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* operated upon by the event handler.
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*/
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struct send_s
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{
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FAR struct socket *snd_sock; /* Points to the parent socket structure */
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FAR struct devif_callback_s *snd_cb; /* Reference to callback instance */
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sem_t snd_sem; /* Used to wake up the waiting thread */
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FAR const uint8_t *snd_buffer; /* Points to the buffer of data to send */
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size_t snd_buflen; /* Number of bytes in the buffer to send */
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size_t pr_msglen; /* Length of msg buffer */
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FAR uint8_t *pr_msgbuf; /* Pointer to msg buffer */
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ssize_t snd_sent; /* The number of bytes sent */
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: psock_send_eventhandler
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****************************************************************************/
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static uint16_t psock_send_eventhandler(FAR struct net_driver_s *dev,
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FAR void *pvconn,
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FAR void *pvpriv, uint16_t flags)
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{
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FAR struct send_s *pstate = (FAR struct send_s *)pvpriv;
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if (pstate)
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{
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/* Check if the outgoing packet is available. It may have been claimed
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* by a send event handler serving a different thread -OR- if the
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* output buffer currently contains unprocessed incoming data. In
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* these cases we will just have to wait for the next polling cycle.
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*/
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if (dev->d_sndlen > 0 || (flags & CAN_NEWDATA) != 0)
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{
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/* Another thread has beat us sending data or the buffer is busy,
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* Check for a timeout. If not timed out, wait for the next
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* polling cycle and check again.
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*/
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/* No timeout. Just wait for the next polling cycle */
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return flags;
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}
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/* It looks like we are good to send the data */
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else
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{
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/* Copy the packet data into the device packet buffer and send it */
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devif_can_send(dev, pstate->snd_buffer, pstate->snd_buflen);
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pstate->snd_sent = pstate->snd_buflen;
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if (pstate->pr_msglen > 0) /* concat cmsg data after packet */
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{
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memcpy(dev->d_buf + pstate->snd_buflen, pstate->pr_msgbuf,
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pstate->pr_msglen);
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dev->d_sndlen = pstate->snd_buflen + pstate->pr_msglen;
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}
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}
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/* Don't allow any further call backs. */
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pstate->snd_cb->flags = 0;
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pstate->snd_cb->priv = NULL;
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pstate->snd_cb->event = NULL;
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/* Wake up the waiting thread */
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nxsem_post(&pstate->snd_sem);
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}
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return flags;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: can_sendmsg
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*
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* Description:
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* The can_sendmsg() call may be used only when the packet socket is
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* in a connected state (so that the intended recipient is known).
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*
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* Input Parameters:
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* psock An instance of the internal socket structure.
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* msg CAN frame and optional CMSG
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* flags Send flags (ignored)
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*
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* Returned Value:
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* On success, returns the number of characters sent. On error,
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* a negated errno value is retruend. See sendmsg() for the complete list
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* of return values.
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*
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****************************************************************************/
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ssize_t can_sendmsg(FAR struct socket *psock, FAR struct msghdr *msg,
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int flags)
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{
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FAR struct net_driver_s *dev;
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FAR struct can_conn_s *conn;
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struct send_s state;
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int ret = OK;
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/* Verify that the sockfd corresponds to valid, allocated socket */
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if (psock == NULL || psock->s_conn == NULL)
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{
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return -EBADF;
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}
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/* Only SOCK_RAW is supported */
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if (psock->s_type != SOCK_RAW)
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{
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/* EDESTADDRREQ. Signifies that the socket is not connection-mode and
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* no peer address is set.
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*/
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return -EDESTADDRREQ;
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}
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conn = (FAR struct can_conn_s *)psock->s_conn;
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/* Get the device driver that will service this transfer */
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dev = conn->dev;
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if (dev == NULL)
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{
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return -ENODEV;
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}
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#if defined(CONFIG_NET_CANPROTO_OPTIONS) && defined(CONFIG_NET_CAN_CANFD)
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if (conn->fd_frames)
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{
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if (msg->msg_iov->iov_len != CANFD_MTU
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&& msg->msg_iov->iov_len != CAN_MTU)
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{
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return -EINVAL;
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}
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}
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else
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#endif
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{
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if (msg->msg_iov->iov_len != CAN_MTU)
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{
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return -EINVAL;
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}
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}
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/* Perform the send operation */
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/* Initialize the state structure. This is done with the network locked
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* because we don't want anything to happen until we are ready.
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*/
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net_lock();
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memset(&state, 0, sizeof(struct send_s));
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/* This semaphore is used for signaling and, hence, should not have
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* priority inheritance enabled.
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*/
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nxsem_init(&state.snd_sem, 0, 0); /* Doesn't really fail */
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nxsem_set_protocol(&state.snd_sem, SEM_PRIO_NONE);
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state.snd_sock = psock; /* Socket descriptor */
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state.snd_buflen = msg->msg_iov->iov_len; /* bytes to send */
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state.snd_buffer = msg->msg_iov->iov_base; /* Buffer to send from */
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#ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE
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if (msg->msg_controllen > sizeof(struct cmsghdr))
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{
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struct cmsghdr *cmsg = CMSG_FIRSTHDR(msg);
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if (conn->tx_deadline && cmsg->cmsg_level == SOL_CAN_RAW
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&& cmsg->cmsg_type == CAN_RAW_TX_DEADLINE
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&& cmsg->cmsg_len == sizeof(struct timeval))
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{
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state.pr_msgbuf = CMSG_DATA(cmsg); /* Buffer to cmsg data */
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state.pr_msglen = cmsg->cmsg_len; /* len of cmsg data */
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}
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}
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#endif
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/* Allocate resource to receive a callback */
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state.snd_cb = can_callback_alloc(dev, conn);
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if (state.snd_cb)
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{
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/* Set up the callback in the connection */
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state.snd_cb->flags = CAN_POLL;
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state.snd_cb->priv = (FAR void *)&state;
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state.snd_cb->event = psock_send_eventhandler;
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/* Notify the device driver that new TX data is available. */
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netdev_txnotify_dev(dev);
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/* Wait for the send to complete or an error to occur.
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* net_lockedwait will also terminate if a signal is received.
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*/
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ret = net_lockedwait(&state.snd_sem);
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/* Make sure that no further events are processed */
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can_callback_free(dev, conn, state.snd_cb);
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}
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nxsem_destroy(&state.snd_sem);
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net_unlock();
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/* Check for a errors, Errors are signalled by negative errno values
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* for the send length
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*/
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if (state.snd_sent < 0)
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{
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return state.snd_sent;
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}
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/* If net_lockedwait failed, then we were probably reawakened by a signal.
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* In this case, net_lockedwait will have returned negated errno
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* appropriately.
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*/
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if (ret < 0)
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{
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return ret;
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}
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/* Return the number of bytes actually sent */
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return state.snd_sent;
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}
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#endif /* CONFIG_NET && CONFIG_NET_CAN */
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