diff options
Diffstat (limited to 'low-can-binding/utils/socketcan.hpp')
| -rw-r--r-- | low-can-binding/utils/socketcan.hpp | 22 |
1 files changed, 6 insertions, 16 deletions
diff --git a/low-can-binding/utils/socketcan.hpp b/low-can-binding/utils/socketcan.hpp index a1fdcb58..6419175d 100644 --- a/low-can-binding/utils/socketcan.hpp +++ b/low-can-binding/utils/socketcan.hpp @@ -24,11 +24,13 @@ #include <string.h> #include "../binding/low-can-hat.hpp" +#include "../can/can-message.hpp" #define INVALID_SOCKET -1 namespace utils { + class socketcan_t { public: @@ -44,28 +46,16 @@ namespace utils int socket() const; virtual int open(std::string device_name) = 0; int setopt(int level, int optname, const void* optval, socklen_t optlen); - int close(); + virtual int close(); + virtual std::shared_ptr<can_message_t> read_message() = 0; + virtual void write_message(std::shared_ptr<can_message_t> obj) = 0; + virtual void write_message(std::vector<std::shared_ptr<can_message_t>>& vobj) = 0; protected: int socket_; struct sockaddr_can tx_address_; - int open(int domain, int type, int protocol); }; - template <typename T> - socketcan_t& operator<<(socketcan_t& s, const std::vector<T>& vobj) - { - for(const auto& obj : vobj) - s << obj; - return s; - } - template <typename T> - socketcan_t& operator<<(socketcan_t& s, const T& obj) - { - if (::sendto(s.socket(), &obj, sizeof(obj), 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0) - AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno)); - return s; - } } |