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-rw-r--r--CAN-binder/low-can-binding/utils/socketcan-bcm.cpp24
-rw-r--r--CAN-binder/low-can-binding/utils/socketcan-bcm.hpp2
-rw-r--r--CAN-binder/low-can-binding/utils/socketcan-raw.cpp21
-rw-r--r--CAN-binder/low-can-binding/utils/socketcan-raw.hpp2
-rw-r--r--CAN-binder/low-can-binding/utils/socketcan.cpp24
-rw-r--r--CAN-binder/low-can-binding/utils/socketcan.hpp2
6 files changed, 49 insertions, 26 deletions
diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
index 835f724..b0148d9 100644
--- a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
+++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
@@ -61,4 +61,28 @@ namespace utils
}
return socket_;
}
+
+ socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
+ {
+ struct {
+ struct bcm_msg_head msg_head;
+ struct can_frame frames;
+ } msg;
+
+ const struct sockaddr_can& addr = s.get_tx_address();
+ socklen_t addrlen = sizeof(addr);
+ struct ifreq ifr;
+
+ ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 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, 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]);
+
+ cm = ::can_message_t::convert_from_frame(msg.frames , nbytes-sizeof(struct bcm_msg_head));
+
+ return s;
+ }
} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp
index deb30c6..d23b067 100644
--- a/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp
+++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp
@@ -44,6 +44,8 @@ namespace utils
private:
int connect(const struct sockaddr* addr, socklen_t len);
};
+
+ 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);
}
diff --git a/CAN-binder/low-can-binding/utils/socketcan-raw.cpp b/CAN-binder/low-can-binding/utils/socketcan-raw.cpp
index 589f6ab..d8cd906 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
diff --git a/CAN-binder/low-can-binding/utils/socketcan-raw.hpp b/CAN-binder/low-can-binding/utils/socketcan-raw.hpp
index e18ff1f..40a6e02 100644
--- a/CAN-binder/low-can-binding/utils/socketcan-raw.hpp
+++ b/CAN-binder/low-can-binding/utils/socketcan-raw.hpp
@@ -29,4 +29,6 @@ namespace utils
private:
int bind(const struct sockaddr* addr, socklen_t len);
};
+
+ socketcan_raw_t& operator>>(socketcan_raw_t& s, can_message_t& cm);
}
diff --git a/CAN-binder/low-can-binding/utils/socketcan.cpp b/CAN-binder/low-can-binding/utils/socketcan.cpp
index f52aaa6..d66822d 100644
--- a/CAN-binder/low-can-binding/utils/socketcan.cpp
+++ b/CAN-binder/low-can-binding/utils/socketcan.cpp
@@ -90,28 +90,4 @@ namespace utils
{
return socket_;
}
-
- socketcan_t& operator>>(socketcan_t& s, can_message_t& cm)
- {
- struct {
- struct bcm_msg_head msg_head;
- struct can_frame frames;
- } msg;
-
- const struct sockaddr_can& addr = s.get_tx_address();
- socklen_t addrlen = sizeof(addr);
- struct ifreq ifr;
-
- ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 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, 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]);
-
- cm = ::can_message_t::convert_from_frame(msg.frames , nbytes-sizeof(struct bcm_msg_head));
-
- return s;
- }
} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/socketcan.hpp b/CAN-binder/low-can-binding/utils/socketcan.hpp
index 76b5121..7011bf9 100644
--- a/CAN-binder/low-can-binding/utils/socketcan.hpp
+++ b/CAN-binder/low-can-binding/utils/socketcan.hpp
@@ -68,6 +68,4 @@ namespace utils
ERROR(binder_interface, "%s: Error sending : %i %s", __FUNCTION__, errno, ::strerror(errno));
return s;
}
-
- socketcan_t& operator>>(socketcan_t& s, can_message_t& cm);
}