diff options
Diffstat (limited to 'CAN-binder/low-can-binding/utils/socketcan.hpp')
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socketcan.hpp | 25 |
1 files changed, 17 insertions, 8 deletions
diff --git a/CAN-binder/low-can-binding/utils/socketcan.hpp b/CAN-binder/low-can-binding/utils/socketcan.hpp index cc7326e..a66e259 100644 --- a/CAN-binder/low-can-binding/utils/socketcan.hpp +++ b/CAN-binder/low-can-binding/utils/socketcan.hpp @@ -27,20 +27,20 @@ #include "low-can-binding.hpp" #define INVALID_SOCKET -1 -#define U64_DATA(p) (*(unsigned long long*)(p)->data) + namespace utils { - - template <typename T> - struct basic_bcm_msg + struct simple_bcm_msg { struct bcm_msg_head msg_head; - std::vector<T> frames; + struct can_frame frames; }; - struct canfd_bcm_msg : public basic_bcm_msg<canfd_frame> + struct canfd_bcm_msg { - canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; } + struct bcm_msg_head msg_head; + struct canfd_frame frames; + canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; } }; class socketcan_t @@ -75,7 +75,16 @@ namespace utils s << obj; return s; } - socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<can_frame>& obj); + + template <typename T> + socketcan_t& operator<<(socketcan_t& s, const T& obj) + { + if (::sendto(s.socket(), &obj, sizeof(obj), 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0) + ERROR(binder_interface, "%s: Error sending : %i %s", __FUNCTION__, errno, ::strerror(errno)); + return s; + } + + socketcan_t& operator<<(socketcan_t& s, const struct simple_bcm_msg& obj); socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj); socketcan_t& operator>>(socketcan_t& s, can_message_t& cm); |