diff options
Diffstat (limited to 'low-can-binding/utils/socketcan-bcm.cpp')
| -rw-r--r-- | low-can-binding/utils/socketcan-bcm.cpp | 23 |
1 files changed, 7 insertions, 16 deletions
diff --git a/low-can-binding/utils/socketcan-bcm.cpp b/low-can-binding/utils/socketcan-bcm.cpp index b9124ee3..0f6bc75c 100644 --- a/low-can-binding/utils/socketcan-bcm.cpp +++ b/low-can-binding/utils/socketcan-bcm.cpp @@ -70,7 +70,7 @@ namespace utils /// Read the socket to retrieve the associated CAN message. All the hard work is do into /// convert_from_frame method and if there isn't CAN message retrieve, only BCM head struct, /// then CAN message will be zeroed and must be handled later. - std::shared_ptr<can_message_t> socketcan_bcm_t::read_message() + std::shared_ptr<message_t> socketcan_bcm_t::read_message() { struct bcm_msg msg; std::shared_ptr<can_message_t> cm = std::make_shared<can_message_t>(); @@ -98,33 +98,24 @@ namespace utils struct timeval tv; ioctl(socket(), SIOCGSTAMP, &tv); uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec; - *cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp); + cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp); cm->set_sub_id((int)socket()); return cm; } - void socketcan_bcm_t::write_message(std::vector<std::shared_ptr<can_message_t>>& vobj) + void socketcan_bcm_t::write_message(std::vector<std::shared_ptr<message_t>>& vobj) { for(const auto& obj : vobj) write_message(obj); } - void socketcan_bcm_t::write_message(std::shared_ptr<can_message_t> m) - { - struct can_frame obj; - obj.can_id = m->get_id(); - obj.can_dlc = m->get_length(); - ::memcpy(obj.data, m->get_data(), CAN_MAX_DLEN); - if (::sendto(socket(), &obj, sizeof(&obj), 0, (const struct sockaddr*)&get_tx_address(), sizeof(get_tx_address())) < 0) - AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno)); - } - - void socketcan_bcm_t::write_message(struct bcm_msg& obj) + void socketcan_bcm_t::write_message(std::shared_ptr<message_t> m) { + struct bcm_msg obj = m->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); + (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)); } |