From 613d8daa7ce886365602d87458943975c411236a Mon Sep 17 00:00:00 2001 From: Romain Forlot Date: Wed, 10 May 2017 09:49:13 +0200 Subject: Move reading input stream to specialized socket class. We always read the same object so how to fill it is the job of specialized class not a generic method can do that. Change-Id: Ia262871cec6b7ed3341eb314d5ed6641b8da61e6 Signed-off-by: Romain Forlot --- CAN-binder/low-can-binding/utils/socketcan-raw.cpp | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) (limited to 'CAN-binder/low-can-binding/utils/socketcan-raw.cpp') diff --git a/CAN-binder/low-can-binding/utils/socketcan-raw.cpp b/CAN-binder/low-can-binding/utils/socketcan-raw.cpp index 589f6abc..d8cd906f 100644 --- a/CAN-binder/low-can-binding/utils/socketcan-raw.cpp +++ b/CAN-binder/low-can-binding/utils/socketcan-raw.cpp @@ -61,4 +61,25 @@ namespace utils } return socket_; } + + socketcan_raw_t& operator>>(socketcan_raw_t& s, can_message_t& cm) + { + struct canfd_frame frame; + + const struct sockaddr_can& addr = s.get_tx_address(); + socklen_t addrlen = sizeof(addr); + struct ifreq ifr; + + ssize_t nbytes = ::recvfrom(s.socket(), &frame, sizeof(frame), 0, (struct sockaddr*)&addr, &addrlen); + ifr.ifr_ifindex = addr.can_ifindex; + ioctl(s.socket(), SIOCGIFNAME, &ifr); + + DEBUG(binder_interface, "Data available: %i bytes read", (int)nbytes); + DEBUG(binder_interface, "read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, frame.can_id, frame.len, + frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4], frame.data[5], frame.data[6], frame.data[7]); + + cm = ::can_message_t::convert_from_frame(frame , nbytes); + + return s; + } } \ No newline at end of file -- cgit 1.2.3-korg