diff options
| -rw-r--r-- | low-can-binding/binding/low-can-socket.cpp | 26 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-socket.hpp | 5 |
2 files changed, 28 insertions, 3 deletions
diff --git a/low-can-binding/binding/low-can-socket.cpp b/low-can-binding/binding/low-can-socket.cpp index 716b75b9..fdd506b3 100644 --- a/low-can-binding/binding/low-can-socket.cpp +++ b/low-can-binding/binding/low-can-socket.cpp @@ -160,7 +160,7 @@ void low_can_socket_t::set_max(float max) /// this will open the socket with the required CAN bus device name. /// /// @return INVALID_SOCKET on failure else positive integer -int low_can_socket_t::open_socket() +int low_can_socket_t::open_socket(const std::string& bus_name) { int ret = 0; if(! socket_) @@ -169,6 +169,8 @@ int low_can_socket_t::open_socket() {ret = socket_.open(can_signal_->get_message()->get_bus_device_name());} else if (! diagnostic_message_ .empty()) {ret = socket_.open(application_t::instance().get_diagnostic_manager().get_bus_device_name());} + else if ( ! bus_name.empty()) + { ret = socket_.open(bus_name);} index_ = (int)socket_.socket(); } return ret; @@ -181,6 +183,7 @@ int low_can_socket_t::open_socket() struct utils::simple_bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const { struct utils::simple_bcm_msg bcm_msg; + ::memset(&bcm_msg, 0, sizeof(bcm_msg)); bcm_msg.msg_head.opcode = opcode; bcm_msg.msg_head.can_id = can_id; @@ -312,3 +315,24 @@ int low_can_socket_t::tx_send(const struct can_frame& cf, std::shared_ptr<can_si return 0; } + +/// @brief Create a TX_SEND job used by the BCM socket to +/// simply send message +/// +/// @return 0 if ok else -1 +int low_can_socket_t::tx_send(const struct can_frame& cf, const std::string& bus_name) +{ + can_signal_ = nullptr; + + utils::simple_bcm_msg bcm_msg = make_bcm_head(TX_SEND); + add_bcm_frame(cf, bcm_msg); + + if(open_socket(bus_name) < 0) + {return -1;} + + socket_ << bcm_msg; + if(! socket_) + return -1; + + return 0; +} diff --git a/low-can-binding/binding/low-can-socket.hpp b/low-can-binding/binding/low-can-socket.hpp index 3621a3d6..018b3076 100644 --- a/low-can-binding/binding/low-can-socket.hpp +++ b/low-can-binding/binding/low-can-socket.hpp @@ -80,11 +80,12 @@ public: struct utils::simple_bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) const; void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const; - int open_socket(); + int open_socket(const std::string& bus_name = ""); int create_rx_filter(std::shared_ptr<can_signal_t> sig); int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig); int create_rx_filter(utils::simple_bcm_msg& bcm_msg); - int tx_send(const struct can_frame& cf, std::shared_ptr<can_signal_t> sig = nullptr); + int tx_send(const struct can_frame& cf, std::shared_ptr<can_signal_t> sig); + int tx_send(const struct can_frame& cf, const std::string& bus_name); }; |