X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/1a22ac61861ab5e4ab8cde38503832fbc8fbc818..2827b727d2910a3b48f9de7d67b3a67f59e256c7:/lincan/utils/readburst_rtl.c

diff --git a/lincan/utils/readburst_rtl.c b/lincan/utils/readburst_rtl.c
index 9f03cbf..8595eeb 100644
--- a/lincan/utils/readburst_rtl.c
+++ b/lincan/utils/readburst_rtl.c
@@ -77,7 +77,11 @@ int readburst_main(void *arg)
 {
 	int n,ret;
 	unsigned long i=0;
+       #ifdef CAN_MSG_VERSION_2
+	struct canmsg_t readmsg={0,0,5,{0,0},0,{0,}};
+       #else /* CAN_MSG_VERSION_2 */
 	struct canmsg_t readmsg={0,0,5,0,0,{0,}};
+       #endif /* CAN_MSG_VERSION_2 */
 
 	if(canfilt_mask || canfilt_id || canfilt_flags){
 		canfilt_fl=1;
@@ -105,7 +109,6 @@ int readburst_main(void *arg)
 	while (1) {
 		readmsg.flags=0;
 		readmsg.cob=0;
-		readmsg.timestamp=0;
 	    #if 0
 		ret=can_fd_wait(fd, can_wait_sec);
 		printf("%scan_fd_wait returned %d\n", prt_prefix, ret);
@@ -124,6 +127,8 @@ int readburst_main(void *arg)
 			printf("\n");
 			i++;
 		}
+		pthread_testcancel();
+
 	}
 	/* close(fd); is called by cleanup handler*/
         pthread_cleanup_pop(1);
@@ -154,4 +159,7 @@ int init_module(void) {
 
 void cleanup_module(void) {
         pthread_delete_np (t1);
+	
+	/*pthread_cancel(t1);
+	pthread_join(t1, NULL);*/
 }