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优化DrMotorCan创建和销毁函数，增加错误处理和资源管理 #2

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优化DrMotorCan创建和销毁函数，增加错误处理和资源管理 #2

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129 changes: 84 additions & 45 deletions sdk/deep_motor_sdk.h
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Original file line number Diff line number Diff line change
Expand Up @@ -320,60 +320,99 @@ typedef struct{

//创建DrMotorCan实例
//Create DrMotorCan object
DrMotorCan* DrMotorCanCreate(const char *can_name, bool is_show_log){
DrMotorCan* can = (DrMotorCan*)malloc(sizeof(DrMotorCan));
if(can != NULL){
can->is_show_log_ = is_show_log;

if((can->can_socket_ = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0){
printf("[ERROR] Socket creation failed\r\n");
exit(-1);
}
DrMotorCan *DrMotorCanCreate(const char *can_name, bool is_show_log)
{
int flags;
struct ifreq ifr;
struct sockaddr_can addr;
struct epoll_event event;

DrMotorCan *can = (DrMotorCan *)malloc(sizeof(DrMotorCan));
if (can == NULL)
return NULL;

can->can_socket_ = -1;
can->epoll_fd_ = -1;
can->is_show_log_ = is_show_log;

if (pthread_mutex_init(&can->rw_mutex, NULL) != 0)
{
free(can);
return NULL;
}

int flags = fcntl(can->can_socket_, F_GETFL, 0);
if(flags == -1){
printf("[ERROR] Getting socket flags failed\r\n");
exit(-1);
}
flags |= O_NONBLOCK;
if(fcntl(can->can_socket_, F_SETFL, flags) == -1){
printf("[ERROR] Setting socket to non-blocking mode failed\r\n");
exit(-1);
}
if ((can->can_socket_ = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
{
printf("[ERROR] Socket creation failed\r\n");
goto failed;
}

struct ifreq ifr;
struct sockaddr_can addr;
strcpy(ifr.ifr_name, can_name);
ioctl(can->can_socket_, SIOCGIFINDEX, &ifr);
addr.can_ifindex = ifr.ifr_ifindex;
addr.can_family = AF_CAN;
if(bind(can->can_socket_, (struct sockaddr*)&addr, sizeof(addr)) < 0){
printf("[ERROR] Bind failed\r\n");
close(can->can_socket_);
exit(-1);
}
flags = fcntl(can->can_socket_, F_GETFL, 0);
if (flags == -1 || fcntl(can->can_socket_, F_SETFL, flags | O_NONBLOCK) == -1)
{
printf("[ERROR] Getting socket flags failed\r\n");
goto failed;
}

can->epoll_fd_ = epoll_create1(0);
if(can->epoll_fd_ == -1){
printf("[ERROR] Error creating epoll instance\r\n");
exit(-1);
}
strcpy(ifr.ifr_name, can_name);
if (ioctl(can->can_socket_, SIOCGIFINDEX, &ifr) < 0)
{
printf("[ERROR] Setting socket to non-blocking mode failed\r\n");
goto failed;
}

struct epoll_event event;
event.events = EPOLLIN;
event.data.fd = can->can_socket_;
if(epoll_ctl(can->epoll_fd_, EPOLL_CTL_ADD, can->can_socket_, &event) == -1){
printf("[ERROR] Adding socket to epoll failed\r\n");
exit(-1);
}
addr.can_ifindex = ifr.ifr_ifindex;
addr.can_family = AF_CAN;
if (bind(can->can_socket_, (struct sockaddr *)&addr, sizeof(addr)) < 0)
{
printf("[ERROR] Bind failed\r\n");
goto failed;
}

can->epoll_fd_ = epoll_create1(0);
if (can->epoll_fd_ == -1)
{
printf("[ERROR] Error creating epoll instance\r\n");
goto failed;
}

event.events = EPOLLIN;
event.data.fd = can->can_socket_;
if (epoll_ctl(can->epoll_fd_, EPOLL_CTL_ADD, can->can_socket_, &event) == -1)
{
printf("[ERROR] Adding socket to epoll failed\r\n");
goto failed;
}

return can;
};

failed:
if (can->can_socket_ >= 0)
close(can->can_socket_);
if (can->epoll_fd_ >= 0)
close(can->epoll_fd_);
pthread_mutex_destroy(&can->rw_mutex);
free(can);
//return NULL;
exit(-1);
}

//销毁DrMotorCan实例
//Destroy DrMotorCan object
void DrMotorCanDestroy(DrMotorCan *can){
close(can->can_socket_);
void DrMotorCanDestroy(DrMotorCan *can)
{
if (can->epoll_fd_ >= 0)
{
close(can->epoll_fd_);
can->epoll_fd_ = -1;
}
if (can->can_socket_ >= 0)
{
close(can->can_socket_);
can->can_socket_ = -1;
}

pthread_mutex_destroy(&can->rw_mutex);
free(can);
}

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