diff options
Diffstat (limited to 'CAN-binder/low-can-binding/utils/socketcan-bcm.cpp')
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socketcan-bcm.cpp | 24 |
1 files changed, 24 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp index 835f7242..b0148d91 100644 --- a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp +++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp @@ -61,4 +61,28 @@ namespace utils } return socket_; } + + socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm) + { + struct { + struct bcm_msg_head msg_head; + struct can_frame frames; + } msg; + + const struct sockaddr_can& addr = s.get_tx_address(); + socklen_t addrlen = sizeof(addr); + struct ifreq ifr; + + ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen); + ifr.ifr_ifindex = addr.can_ifindex; + ioctl(s.socket(), SIOCGIFNAME, &ifr); + + DEBUG(binder_interface, "Data available: %i bytes read", (int)nbytes); + DEBUG(binder_interface, "read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, msg.msg_head.can_id, msg.frames.can_dlc, + msg.frames.data[0], msg.frames.data[1], msg.frames.data[2], msg.frames.data[3], msg.frames.data[4], msg.frames.data[5], msg.frames.data[6], msg.frames.data[7]); + + cm = ::can_message_t::convert_from_frame(msg.frames , nbytes-sizeof(struct bcm_msg_head)); + + return s; + } }
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