diff options
Diffstat (limited to 'low-can-binding/utils')
| -rw-r--r-- | low-can-binding/utils/socketcan-bcm.cpp | 25 | ||||
| -rw-r--r-- | low-can-binding/utils/socketcan-bcm.hpp | 25 |
2 files changed, 30 insertions, 20 deletions
diff --git a/low-can-binding/utils/socketcan-bcm.cpp b/low-can-binding/utils/socketcan-bcm.cpp index 750e772d..d1fd8e0a 100644 --- a/low-can-binding/utils/socketcan-bcm.cpp +++ b/low-can-binding/utils/socketcan-bcm.cpp @@ -72,7 +72,7 @@ namespace utils /// then CAN message will be zeroed and must be handled later. socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm) { - struct utils::simple_bcm_msg msg; + struct utils::bcm_msg msg; ::memset(&msg, 0, sizeof(msg)); const struct sockaddr_can& addr = s.get_tx_address(); @@ -85,17 +85,30 @@ namespace utils 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); - AFB_DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, msg.msg_head.can_id, msg.frames.can_dlc, - msg.frames.data[0], msg.frames.data[1], msg.frames.data[2], msg.frames.data[3], msg.frames.data[4], msg.frames.data[5], msg.frames.data[6], msg.frames.data[7]); struct timeval tv; ioctl(s.socket(), SIOCGSTAMP, &tv); uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec; - cm = ::can_message_t::convert_from_frame(msg.frames , - frame_size, - timestamp); + cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp); cm.set_sub_id((int)s.socket()); return s; } + + socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const std::vector<struct utils::bcm_msg>& vobj) + { + for(const auto& obj : vobj) + s << obj; + return s; + } + + socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct utils::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) + AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno)); + return s; + } } diff --git a/low-can-binding/utils/socketcan-bcm.hpp b/low-can-binding/utils/socketcan-bcm.hpp index 22927cb6..478a5292 100644 --- a/low-can-binding/utils/socketcan-bcm.hpp +++ b/low-can-binding/utils/socketcan-bcm.hpp @@ -20,24 +20,20 @@ #include "socketcan.hpp" #include "../can/can-message.hpp" +#define MAX_BCM_CAN_FRAMES 257 + namespace utils { - struct simple_bcm_msg - { - struct bcm_msg_head msg_head; - struct can_frame frames; - }; - -#ifdef KERNEL_MINIMAL_VERSION_OK - struct canfd_bcm_msg + struct bcm_msg { struct bcm_msg_head msg_head; - struct canfd_frame frames; - canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; } + union { + struct canfd_frame fd_frames[MAX_BCM_CAN_FRAMES]; + struct can_frame frames[MAX_BCM_CAN_FRAMES]; + }; }; -#endif - /// @brief derivated socketcan class specialized for BCM CAN socket. + /// @brief derivated socketcan class specialized for BCM CAN socket.make_bcm_head class socketcan_bcm_t : public socketcan_t { public: @@ -50,6 +46,7 @@ namespace utils }; socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm); -// socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct simple_bcm_msg& obj); -// socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct canfd_bcm_msg& obj); + + socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const std::vector<struct bcm_msg>& obj); + socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct bcm_msg& obj); } |