Add feature to build messages and fix some functions

Allows to build a message (J1939,BCM) with a signal and a value.

Bug-AGL: SPEC-2386
Bug-AGL: SPEC-2976

Signed-off-by: Arthur Guyader <arthur.guyader@iot.bzh>
Change-Id: Iadca13a927ff83f713f39da441c88356695a1285
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

8 files changed, 59 insertions, 39 deletions

diff --git a/low-can-binding/utils/socketcan-bcm.cpp b/low-can-binding/utils/socketcan-bcm.cpp
index 0f6bc75c..df41fba2 100644
--- a/low-can-binding/utils/socketcan-bcm.cpp
+++ b/low-can-binding/utils/socketcan-bcm.cpp
@@ -25,12 +25,6 @@
 
 namespace utils
 {
-	/// @brief Connect the socket.
-	/// @return 0 if success.
-	int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len)
-	{
-		return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
-	}
 
  	/// @brief Open a raw socket CAN.
 	/// @param[in] device_name is the kernel network device name of the CAN interface.
@@ -104,19 +98,19 @@ namespace utils
 		return cm;
 	}
 
-	void socketcan_bcm_t::write_message(std::vector<std::shared_ptr<message_t>>& vobj)
+	int socketcan_bcm_t::write_message(message_t& m)
 	{
-		for(const auto& obj : vobj)
-			write_message(obj);
-	}
 
-	void socketcan_bcm_t::write_message(std::shared_ptr<message_t> m)
-	{
-		struct bcm_msg obj = m->get_bcm_msg();
+		can_message_t&  cm = reinterpret_cast<can_message_t&>(m);
+		struct bcm_msg obj = cm.get_bcm_msg();
 		size_t size = (obj.msg_head.flags & CAN_FD_FRAME) ?
 			(size_t)((char*)&obj.fd_frames[obj.msg_head.nframes] - (char*)&obj):
 			(size_t)((char*)&obj.frames[obj.msg_head.nframes] - (char*)&obj);
 		if (::sendto(socket(), &obj, size, 0, (const struct sockaddr*)&get_tx_address(), sizeof(get_tx_address())) < 0)
-			AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno));
+		{
+			AFB_ERROR("Error sending : %i %s", errno, ::strerror(errno));
+			return -1;
+		}
+		return 0;
 	}
 }
diff --git a/low-can-binding/utils/socketcan-bcm.hpp b/low-can-binding/utils/socketcan-bcm.hpp
index 5e86aa4f..1f5ec50c 100644
--- a/low-can-binding/utils/socketcan-bcm.hpp
+++ b/low-can-binding/utils/socketcan-bcm.hpp
@@ -30,11 +30,8 @@ namespace utils
 
 		virtual int open(std::string device_name);
 		virtual std::shared_ptr<message_t> read_message();
-		virtual void write_message(std::vector<std::shared_ptr<message_t>>& vobj);
-		virtual void write_message(std::shared_ptr<message_t> obj);
+		virtual int write_message(message_t& obj);
 
-	private:
-		int connect(const struct sockaddr* addr, socklen_t len);
 	};
 
 
diff --git a/low-can-binding/utils/socketcan-j1939.cpp b/low-can-binding/utils/socketcan-j1939.cpp
index 5f977f04..a7938d61 100644
--- a/low-can-binding/utils/socketcan-j1939.cpp
+++ b/low-can-binding/utils/socketcan-j1939.cpp
@@ -79,7 +79,8 @@ namespace utils
 			}
 			++filter_on;
 		}
-		if(filter_on){
+		if(filter_on)
+		{
 			setopt(SOL_CAN_J1939, SO_J1939_FILTER, &filter, sizeof(filter));
 		}
 	}
diff --git a/low-can-binding/utils/socketcan-j1939.hpp b/low-can-binding/utils/socketcan-j1939.hpp
index d3b01fc4..2b370179 100644
--- a/low-can-binding/utils/socketcan-j1939.hpp
+++ b/low-can-binding/utils/socketcan-j1939.hpp
@@ -34,6 +34,7 @@ namespace utils
 		virtual std::shared_ptr<message_t> read_message();
 		virtual void write_message(std::shared_ptr<message_t> obj);
 		virtual void write_message(std::vector<std::shared_ptr<message_t>>& vobj);
+		virtual int write_message(message_t& obj);
 
 	private:
 		int connect(const struct sockaddr* addr, socklen_t len);
diff --git a/low-can-binding/utils/socketcan-raw.cpp b/low-can-binding/utils/socketcan-raw.cpp
index 6bd41c3b..31387c72 100644
--- a/low-can-binding/utils/socketcan-raw.cpp
+++ b/low-can-binding/utils/socketcan-raw.cpp
@@ -22,12 +22,6 @@
 
 namespace utils
 {
-	/// @brief Bind the socket.
-	/// @return 0 if success.
-	int socketcan_raw_t::bind(const struct sockaddr* addr, socklen_t len)
-	{
-		return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
-	}
 
  	/// @brief Open a raw socket CAN.
 	/// @param[in] device_name is the kernel network device name of the CAN interface.
@@ -75,7 +69,7 @@ namespace utils
 		ifr.ifr_ifindex = addr.can_ifindex;
 		ioctl(socket(), SIOCGIFNAME, &ifr);
 
-		AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
+		//AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
 		AFB_DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, frame.can_id, frame.len,
 			frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4], frame.data[5], frame.data[6], frame.data[7]);
 
@@ -87,13 +81,9 @@ namespace utils
 		return cm;
 	}
 
-	void socketcan_raw_t::write_message(std::vector<std::shared_ptr<message_t>>& vobj)
-	{
-		AFB_WARNING("Not implemented");
-	}
-
-	void socketcan_raw_t::write_message(std::shared_ptr<message_t> cm)
+	int socketcan_raw_t::write_message(message_t& m)
 	{
 		AFB_WARNING("Not implemented");
+		return -1;
 	}
 }
diff --git a/low-can-binding/utils/socketcan-raw.hpp b/low-can-binding/utils/socketcan-raw.hpp
index 42e98746..966bf351 100644
--- a/low-can-binding/utils/socketcan-raw.hpp
+++ b/low-can-binding/utils/socketcan-raw.hpp
@@ -27,11 +27,7 @@ namespace utils
 		using socketcan_t::socketcan_t;
 		virtual int open(std::string device_name);
 		virtual std::shared_ptr<message_t> read_message();
-		virtual void write_message(std::shared_ptr<message_t> cm);
-		virtual void write_message(std::vector<std::shared_ptr<message_t>>& vobj);
-
-	private:
-		int bind(const struct sockaddr* addr, socklen_t len);
+		virtual int write_message(message_t& cm);
 	};
 
 }
diff --git a/low-can-binding/utils/socketcan.cpp b/low-can-binding/utils/socketcan.cpp
index b943d1d7..f542f4e8 100644
--- a/low-can-binding/utils/socketcan.cpp
+++ b/low-can-binding/utils/socketcan.cpp
@@ -96,4 +96,32 @@ namespace utils
 	{
 		return socket_;
 	}
+
+	/// @brief Connect the socket.
+	/// @return 0 if success.
+	int socketcan_t::connect(const struct sockaddr* addr, socklen_t len)
+	{
+		return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
+	}
+
+	/// @brief Bind the socket.
+	/// @return 0 if success.
+	int socketcan_t::bind(const struct sockaddr* addr, socklen_t len)
+	{
+		return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
+	}
+
+	int socketcan_t::write_message(std::vector<message_t>& vobj)
+	{
+		for(int i=0;i<vobj.size();i++)
+		{
+			if(write_message(vobj[i])<0)
+			{
+				AFB_ERROR("Error send message %d",i);
+				return -1;
+			}
+		}
+		return 0;
+	}
+
 }
diff --git a/low-can-binding/utils/socketcan.hpp b/low-can-binding/utils/socketcan.hpp
index fdf8c949..2a7077eb 100644
--- a/low-can-binding/utils/socketcan.hpp
+++ b/low-can-binding/utils/socketcan.hpp
@@ -28,6 +28,17 @@
 
 #define INVALID_SOCKET -1
 
+/**
+ * @enum socket_type
+ * @brief The type of socket
+ */
+enum class socket_type {
+	BCM, ///< BCM - Socket BCM
+	J1939_ADDR_CLAIM, ///< J1939 - Socket J1939
+	J1939, ///< J1939 - Socket J1939
+	INVALID
+};
+
 namespace utils
 {
 
@@ -48,13 +59,15 @@ namespace utils
 		int setopt(int level, int optname, const void* optval, socklen_t optlen);
 		virtual int close();
 		virtual std::shared_ptr<message_t> read_message() = 0;
-		virtual void write_message(std::shared_ptr<message_t> obj) = 0;
-		virtual void write_message(std::vector<std::shared_ptr<message_t>>& vobj) = 0;
+		virtual int write_message(message_t& obj) = 0;
+		virtual int write_message(std::vector<message_t>& vobj);
 
 	protected:
 		int socket_;
 		struct sockaddr_can tx_address_;
 		int open(int domain, int type, int protocol);
+		int bind(const struct sockaddr* addr, socklen_t len);
+		int connect(const struct sockaddr* addr, socklen_t len);
 	};