Rename and handling write on socket using stream instead of specific method

Created special struct to handle bcm messages with can_frame and canfd_frame.
We can now just send both of them seamlessly.

Change-Id: Ia84e9cf2ab1dd0716cb09f6bb342a208e54f8e06
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

4 files changed, 85 insertions, 28 deletions

diff --git a/CAN-binder/low-can-binding/CMakeLists.txt b/CAN-binder/low-can-binding/CMakeLists.txt
index 84abfaf..a68ea2a 100644
--- a/CAN-binder/low-can-binding/CMakeLists.txt
+++ b/CAN-binder/low-can-binding/CMakeLists.txt
@@ -24,7 +24,7 @@ PROJECT_TARGET_ADD(low-can-binding)
 	add_library(${TARGET_NAME} MODULE ${TARGET_NAME}.cpp configuration.cpp configuration-generated.cpp
 		can/can-bus.cpp can/can-bus-dev.cpp can/can-message-set.cpp can/can-message-definition.cpp can/can-message.cpp can/can-signals.cpp can/can-decoder.cpp
 		diagnostic/diagnostic-message.cpp diagnostic/diagnostic-manager.cpp diagnostic/active-diagnostic-request.cpp
-		utils/signals.cpp utils/openxc-utils.cpp utils/timer.cpp utils/socket.cpp utils/config-parser.cpp)
+		utils/signals.cpp utils/openxc-utils.cpp utils/timer.cpp utils/socketcan.cpp utils/config-parser.cpp)
 
 	# Binder exposes a unique public entry point
 	SET_TARGET_PROPERTIES(${TARGET_NAME} PROPERTIES
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
index d097dc6..8470156 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -151,24 +151,21 @@ void can_bus_dev_t::can_reader(can_bus_t& can_bus)
 /// @return 0 if message snet, -1 if something wrong.
 int can_bus_dev_t::send(can_message_t& can_msg)
 {
-	ssize_t nbytes;
 	canfd_frame f;
-
 	f = can_msg.convert_to_canfd_frame();
 
 	if(can_socket_)
 	{
-		nbytes = can_socket_.send(f);
-		if (nbytes == -1)
+		can_socket_ << f;
+		if(!can_socket_)
 		{
-			ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
+			ERROR(binder_interface, "%s: Sending CAN frame failed.", __FUNCTION__);
 			return -1;
 		}
-		return (int)nbytes;
 	}
 	else
 	{
-		ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+		ERROR(binder_interface, "%s: socket not initialized. Attempt to reopen can device socket.", __FUNCTION__);
 		open();
 		return -1;
 	}
@@ -187,7 +184,6 @@ int can_bus_dev_t::send(can_message_t& can_msg)
 /// @return True if message sent, false if not.
 bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
 {
-	ssize_t nbytes;
 	canfd_frame f;
 
 	f.can_id = arbitration_id;
@@ -196,18 +192,18 @@ bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* dat
 
 	if(can_socket_)
 	{
-		nbytes = can_socket_.send(f);
-		if (nbytes == -1)
+		can_socket_ << f;
+		if (!can_socket_)
 		{
 			ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
 			return false;
 		}
-		return true;
 	}
 	else
 	{
 		ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
 		open();
+		return false;
 	}
-	return false;
+	return true;
 }
diff --git a/CAN-binder/low-can-binding/utils/socket.cpp b/CAN-binder/low-can-binding/utils/socketcan.cpp
index 9decaa8..17ce6ce 100644
--- a/CAN-binder/low-can-binding/utils/socket.cpp
+++ b/CAN-binder/low-can-binding/utils/socketcan.cpp
@@ -22,11 +22,12 @@
 #include <net/if.h>
 #include <sys/ioctl.h>
 
-#include "socket.hpp"
+#include "socketcan.hpp"
 #include "low-can-binding.hpp"
 
 namespace utils
 {
+
 	/// @brief Construct a default, invalid, socket.
 	socketcan_t::socketcan_t()
 		: socket_{INVALID_SOCKET}
@@ -46,6 +47,11 @@ namespace utils
 			::close(socket_);
 	}
 
+	const struct sockaddr_can& socketcan_t::get_tx_address() const
+	{
+		return tx_address_;
+	}
+
 	/// @brief Test if socket is valid.
 	/// @return true if valid, false otherwise.
 	socketcan_t::operator bool() const
@@ -121,10 +127,10 @@ namespace utils
 		}
 		else
 		{
-			txAddress_.can_family = AF_CAN;
-			txAddress_.can_ifindex = ifr.ifr_ifindex;
+			tx_address_.can_family = AF_CAN;
+			tx_address_.can_ifindex = ifr.ifr_ifindex;
 
-			if(connect((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
+			if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
 			{
 				ERROR(binder_interface, "%s: Connect failed. %s", __FUNCTION__, strerror(errno));
 				close();
@@ -133,14 +139,38 @@ namespace utils
 		return socket_;
 	}
 
-	/// @brief Send a CAN message through the socket.
-	///
-	/// @param[in] f - the CAN FD frame to send
-	///
-	/// @return number of sent bytes if message sent, 0 on invalid socket and -1 if something wrong.
-	ssize_t socketcan_t::send(const struct canfd_frame& f)
+	socketcan_t& operator<<(socketcan_t& s, const struct bcm_msg_head& obj)
+	{
+		struct sockaddr_can addr = s.get_tx_address();
+		::sendto(s.socket(), &obj, sizeof(bcm_msg_head), 0, (struct sockaddr*)&addr, sizeof(addr));
+		return s;
+	}
+
+	socketcan_t& operator<<(socketcan_t& s, const struct canfd_frame& obj)
+	{
+		struct sockaddr_can addr = s.get_tx_address();
+		::sendto(s.socket(), &obj, sizeof(canfd_frame), 0, (struct sockaddr*)&addr, sizeof(addr));
+		return s;
+	}
+
+	socketcan_t& operator<<(socketcan_t& s, const struct can_frame& obj)
+	{
+		struct sockaddr_can addr = s.get_tx_address();
+		::sendto(s.socket(), &obj, sizeof(can_frame), 0, (struct sockaddr*)&addr, sizeof(addr));
+		return s;
+	}
+
+	socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<struct can_frame>& obj)
+	{
+		s << obj.msg_head;
+		s << obj.frames;
+		return s;
+	}
+
+	socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj)
 	{
-		return socket_ != INVALID_SOCKET ? ::sendto(socket_, &f, sizeof(struct canfd_frame), 0,
-			(struct sockaddr*)&txAddress_, sizeof(txAddress_)) : 0;
+		s << obj.msg_head;
+		s << obj.frames;
+		return s;
 	}
-}
+}
\ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/socket.hpp b/CAN-binder/low-can-binding/utils/socketcan.hpp
index b981ad3..2c79036 100644
--- a/CAN-binder/low-can-binding/utils/socket.hpp
+++ b/CAN-binder/low-can-binding/utils/socketcan.hpp
@@ -18,11 +18,27 @@
  */
 
 #include <sys/socket.h>
+#include <linux/can/bcm.h>
+
+#include <vector>
 
 #define INVALID_SOCKET -1
 
 namespace utils
 {
+
+	template <typename T>
+	struct basic_bcm_msg
+	{
+		bcm_msg_head msg_head;
+		std::vector<T> frames;
+	};
+
+	struct canfd_bcm_msg : public basic_bcm_msg<canfd_frame>
+	{
+	canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
+	};
+
 	class socketcan_t
 	{
 	public:
@@ -31,19 +47,34 @@ namespace utils
 		socketcan_t(socketcan_t&&);
 		~socketcan_t();
 
+		const struct sockaddr_can& get_tx_address() const;
 		explicit operator bool() const;
 
 		int socket() const;
 		int open(std::string device_name);
 		int setopt(int level, int optname, const void* optval, socklen_t optlen);
-		ssize_t send(const struct canfd_frame& f);
 		int close();
+
 	private:
 		int socket_;
-		struct sockaddr_can txAddress_; /// < internal member using to bind to the socket
+		struct sockaddr_can tx_address_;
 
 		int open(int domain, int type, int protocol);
 		int bind(const struct sockaddr* addr, socklen_t len);
 		int connect(const struct sockaddr* addr, socklen_t len);
 	};
+
+	template <typename T>
+	socketcan_t& operator<<(socketcan_t& s, const std::vector<T>& vobj)
+	{
+		for(const auto& obj : vobj)
+			s << obj;
+		return s;
+	}
+
+	socketcan_t& operator<<(socketcan_t& s, const canfd_frame& frame);
+	socketcan_t& operator<<(socketcan_t& s, const can_frame& frame);
+	socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<can_frame>& obj);
+	socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj);
+	socketcan_t& operator<<(socketcan_t& s, const struct bcm_msg_head& obj);
 }