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-rw-r--r--src/can/can-bus-dev.cpp31
-rw-r--r--src/can/can-bus-dev.hpp1
2 files changed, 32 insertions, 0 deletions
diff --git a/src/can/can-bus-dev.cpp b/src/can/can-bus-dev.cpp
index 389154b8..f4595676 100644
--- a/src/can/can-bus-dev.cpp
+++ b/src/can/can-bus-dev.cpp
@@ -193,3 +193,34 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg)
}
return 0;
}
+
+/// @brief Send a can message from a can_message_t object.
+/// @param[in] can bus used to send the message
+/// @param[in] can_msg the can message object to send
+bool can_bus_dev_t::send_can_message(const uint16_t arbitration_id, const uint8_t* data, const uint8_t size)
+{
+ ssize_t nbytes;
+ canfd_frame f;
+
+ f.can_id = arbitration_id;
+ f.len = size;
+ ::memcpy(f.data, data, size);
+
+ if(socket.socket())
+ {
+ nbytes = ::sendto(socket.socket(), &f, sizeof(struct canfd_frame), 0,
+ (struct sockaddr*)&txAddress_, sizeof(txAddress_));
+ if (nbytes == -1)
+ {
+ ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
+ return -1;
+ }
+ return (int)nbytes;
+ }
+ else
+ {
+ ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+ open();
+ }
+ return 0;
+}
diff --git a/src/can/can-bus-dev.hpp b/src/can/can-bus-dev.hpp
index d7c3458e..59d999f1 100644
--- a/src/can/can-bus-dev.hpp
+++ b/src/can/can-bus-dev.hpp
@@ -57,4 +57,5 @@ public:
std::pair<struct canfd_frame&, size_t> read();
int send_can_message(can_message_t& can_msg);
+ static bool send_can_message(const uint16_t arbitration_id, const uint8_t* data, const uint8_t size);
};