aboutsummaryrefslogtreecommitdiffstats
path: root/low-can-binding/utils/socketcan-bcm.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'low-can-binding/utils/socketcan-bcm.cpp')
-rw-r--r--low-can-binding/utils/socketcan-bcm.cpp49
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;
}
}