1 files changed, 80 insertions, 35 deletions

diff --git a/can-utils.cpp b/can-utils.cpp
index 53b4f46c..abfe0a04 100644
--- a/can-utils.cpp
+++ b/can-utils.cpp
@@ -6,7 +6,7 @@
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
- *   http://www.apache.org/licenses/LICENSE-2.0
+ *	 http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
@@ -23,6 +23,11 @@
 *
 *********************************************************************************/
 
+CanBus_c::CanBus_c(afb_binding_interface *itf)
+{
+	interface = itf;
+}
+
 int CanBus_c::open()
 {
 	const int canfd_on = 1;
@@ -85,11 +90,41 @@ int CanBus_c::close()
 
 void CanBus_c::start_threads()
 {
-	std::queue <CanMessage_t> can_message_q;
+	std::queue <CanMessage_c> can_message_q;
 
-    th_reading = std::thread(can_reader, interface, socket, can_message_q);
-    th_decoding = std::thread(can_decoder, interface, can_message_q, can_message_queue);
-    th_pushing = std::thread(can_event_push, interface, can_message_queue);
+	th_reading = std::thread(can_reader, interface, socket, can_message_q);
+	th_decoding = std::thread(can_decoder, interface, can_message_q, can_message_q);
+	th_pushing = std::thread(can_event_push, interface, can_message_q);
+}
+
+/*
+ * Send a can message from a CanMessage_c object.
+ */
+int CanBus_c::send_can_message(CanMessage_c can_msg)
+{
+	int nbytes;
+	canfd_frame *f;
+
+	f = can_msg.convert_to_canfd_frame();
+
+	if(socket >= 0)
+	{
+		nbytes = sendto(socket, &f, sizeof(struct canfd_frame), 0,
+				(struct sockaddr*)&txAddress, sizeof(txAddress));
+				
+		if (nbytes == -1)
+		{
+			ERROR(interface, "send_can_message: Sending CAN frame failed.");
+			return -1;
+		}
+		return nbytes;
+	}
+	else
+	{
+		ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+		open_can_dev();
+	}
+	return 0;
 }
 
 /********************************************************************************
@@ -100,81 +135,91 @@ void CanBus_c::start_threads()
 
 uint32_t CanMessage_c::get_id()
 {
-    return id;
+	return id;
 }
 
 int CanMessage_c::get_format()
 {
-    return format;
+	return format;
 }
 
 uint8_t CanMessage_c::get_data()
 {
-    return data;
+	return data;
 }
 uint8_t CanMessage_c::get_lenght()
 {
-    return lenght;
+	return lenght;
 }
 
 void CanMessage_c::set_id(uint32_t new_id)
 {
-    switch(format):
-        case SIMPLE:
-            id = new_id & CAN_SFF_MASK;
-        case EXTENDED:
-            id = new_id & CAN_EFF_MASK;
-        default:
-            ERROR(interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
+	switch(format):
+		case CanMessageFormat::SIMPLE:
+			id = new_id & CAN_SFF_MASK;
+		case CanMessageFormat::EXTENDED:
+			id = new_id & CAN_EFF_MASK;
+		default:
+			ERROR(interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
 }
 
 void CanMessage_c::set_format(CanMessageFormat new_format)
 {
-    if(new_format == SIMPLE || new_format == EXTENDED)
-        format = new_format;
-    else
-        ERROR(interface, "ERROR: Can set format, wrong format chosen");
+	if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED)
+		format = new_format;
+	else
+		ERROR(interface, "ERROR: Can set format, wrong format chosen");
 }
 
 void CanMessage_c::set_data(uint8_t new_data)
 {
-    data = new_data;
+	data = new_data;
 }
 
 void CanMessage_c::set_lenght(uint8_t new_length)
 {
-    lenght = new_lenght;
+	lenght = new_lenght;
 }
 
 /*
- * This is the prefered way to initialize a CanMessage object 
+ * This is the preferred way to initialize a CanMessage object 
  * from a read canfd_frame message.
  * 
  * params: canfd_frame pointer
  */
-void CanMessage_c::convert_canfd_frame_to_CanMessage(canfd_frame *frame)
+void CanMessage_c::convert_from_canfd_frame(canfd_frame *frame)
 {
-    
+	
 	lenght = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len;
 
 	switch (canfd_frame->can_id): 
-        case (canfd_frame->can_id & CAN_ERR_FLAG):
-		    id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
-            break;
-        case (canfd_frame->can_id & CAN_EFF_FLAG):
-		    id = canfd_frame->can_id & CAN_EFF_MASK;
-    		format = EXTENDED;
+		case (canfd_frame->can_id & CAN_ERR_FLAG):
+			id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+			break;
+		case (canfd_frame->can_id & CAN_EFF_FLAG):
+			id = canfd_frame->can_id & CAN_EFF_MASK;
+			format = CanMessageFormat::EXTENDED;
 			break;
 		default:
-			format = STANDARD;
+			format = CanMessageFormat::STANDARD;
 			id = canfd_frame->can_id & CAN_SFF_MASK;
 			break;
 
 	if (sizeof(canfd_frame->data) <= sizeof(data))
 	{
-		for (i = 0; i < lenght; i++)
-			can_message->data.bytes[i] = canfd_frame->data[i];
+		memcpy(data, canfd_frame->data, lenght);
 		return 0;
 	} else if (sizeof(canfd_frame->data) >= CAN_MAX_DLEN)
 		ERROR(interface, "CanMessage_c: canfd_frame data too long to be stored into CanMessage object");
-}
\ No newline at end of file
+}
+
+canfd_frame* convert_to_canfd_frame()
+{
+	canfd_frame frame;
+
+	frame.id = can_msg.get_id();
+	frame.len = can_msg.get_lenght();
+	frame.data = can_msg.get_data();
+
+	return &frame;
+}