diff options
Diffstat (limited to 'low-can-binding/utils/socketcan-bcm.cpp')
| -rw-r--r-- | low-can-binding/utils/socketcan-bcm.cpp | 49 |
1 files changed, 29 insertions, 20 deletions
diff --git a/low-can-binding/utils/socketcan-bcm.cpp b/low-can-binding/utils/socketcan-bcm.cpp index 3f3a0968..b9124ee3 100644 --- a/low-can-binding/utils/socketcan-bcm.cpp +++ b/low-can-binding/utils/socketcan-bcm.cpp @@ -70,53 +70,62 @@ 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. - socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm) + std::shared_ptr<can_message_t> socketcan_bcm_t::read_message() { - struct utils::bcm_msg msg; + struct bcm_msg msg; + std::shared_ptr<can_message_t> cm = std::make_shared<can_message_t>(); - const struct sockaddr_can& addr = s.get_tx_address(); + const struct sockaddr_can& addr = 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); + ssize_t nbytes = ::recvfrom(socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen); if(nbytes < 0) { - AFB_ERROR("Can't read the next message from socket '%d'. '%s'", s.socket(), strerror(errno)); - return s; + AFB_ERROR("Can't read the next message from socket '%d'. '%s'", socket(), strerror(errno)); + return cm; } ifr.ifr_ifindex = addr.can_ifindex; - if(ioctl(s.socket(), SIOCGIFNAME, &ifr) < 0) + if(ioctl(socket(), SIOCGIFNAME, &ifr) < 0) { AFB_ERROR("Can't read the interface name. '%s'", strerror(errno)); - return s; + return cm; } long unsigned int frame_size = nbytes-sizeof(struct bcm_msg_head); AFB_DEBUG("Data available: %li bytes read. BCM head, opcode: %i, can_id: %i, nframes: %i", frame_size, msg.msg_head.opcode, msg.msg_head.can_id, msg.msg_head.nframes); struct timeval tv; - ioctl(s.socket(), SIOCGSTAMP, &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.set_sub_id((int)s.socket()); + *cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp); + cm->set_sub_id((int)socket()); - return s; + return cm; } - socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const std::vector<struct utils::bcm_msg>& vobj) + void socketcan_bcm_t::write_message(std::vector<std::shared_ptr<can_message_t>>& vobj) { for(const auto& obj : vobj) - s << obj; - return s; + write_message(obj); } - socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct utils::bcm_msg& 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) { 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(s.socket(), &obj, size, 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0) + (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)); - return s; } } |