commit 92b9d4e98818d271e18c171b3aa497b0eb41b2c9
author Maxwell Henderson <mxwhenderson@gmail.com> Tue Feb 13 20:21:08 2024 -0800
committer Maxwell Henderson <mxwhenderson@gmail.com> Tue Feb 13 20:21:08 2024 -0800
tree b8051e7de13389e27e890895f7d89d73b9f13651
parent 10331a28f7dfdaf86e5beef49aa7cfb78653fe2f

Explicitly delete can fds in CanLogger

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I1a80fcca8e226dcfa010369a2d8cf68d8bfad1ce

frc971/can_logger/can_logger.cc

diff --git a/frc971/can_logger/can_logger.cc b/frc971/can_logger/can_logger.cc
index d7c2df7..cfc3dd8 100644
--- a/frc971/can_logger/can_logger.cc
+++ b/frc971/can_logger/can_logger.cc
@@ -5,10 +5,11 @@
 CanLogger::CanLogger(aos::ShmEventLoop *event_loop,
                      std::string_view channel_name,
                      std::string_view interface_name)
-    : fd_(socket(PF_CAN, SOCK_RAW | SOCK_NONBLOCK, CAN_RAW)),
-      frames_sender_(event_loop->MakeSender<CanFrame>(channel_name)) {
+    : shm_event_loop_(event_loop),
+      fd_(socket(PF_CAN, SOCK_RAW | SOCK_NONBLOCK, CAN_RAW)),
+      frames_sender_(shm_event_loop_->MakeSender<CanFrame>(channel_name)) {
   // TOOD(max): Figure out a proper priority
-  event_loop->SetRuntimeRealtimePriority(10);
+  shm_event_loop_->SetRuntimeRealtimePriority(10);
   struct ifreq ifr;
   strcpy(ifr.ifr_name, interface_name.data());
   PCHECK(ioctl(fd_.get(), SIOCGIFINDEX, &ifr) == 0)
@@ -34,7 +35,7 @@
   CHECK_EQ(opt_size, sizeof(recieve_buffer_size));
   VLOG(0) << "CAN recieve bufffer is " << recieve_buffer_size << " bytes large";
 
-  event_loop->epoll()->OnReadable(fd_.get(), [this]() { Poll(); });
+  shm_event_loop_->epoll()->OnReadable(fd_.get(), [this]() { Poll(); });
 }
 
 void CanLogger::Poll() {

frc971/can_logger/can_logger.h

diff --git a/frc971/can_logger/can_logger.h b/frc971/can_logger/can_logger.h
index a144265..6bad877 100644
--- a/frc971/can_logger/can_logger.h
+++ b/frc971/can_logger/can_logger.h
@@ -33,6 +33,8 @@
   CanLogger(const CanLogger &) = delete;
   CanLogger &operator=(const CanLogger &) = delete;
 
+  ~CanLogger() { shm_event_loop_->epoll()->DeleteFd(fd_.get()); }
+
  private:
   void Poll();
 
@@ -40,6 +42,7 @@
   // Returns true if successful and false if the recieve buffer is empty.
   bool ReadFrame();
 
+  aos::ShmEventLoop *shm_event_loop_;
   aos::ScopedFD fd_;
   aos::Sender<CanFrame> frames_sender_;
 };