3 files changed, 19 insertions, 24 deletions

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 7f7a762..c0ebca1 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -125,7 +125,7 @@ int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
 {
 	uint32_t can_id  = s.get_message().get_id();
 
-	struct utils::basic_bcm_msg<struct can_frame> bcm_msg;
+	struct utils::simple_bcm_msg bcm_msg;
 	struct can_frame cfd;
 
 	memset(&cfd, 0, sizeof(cfd));
@@ -145,7 +145,7 @@ int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
 										cfd.data,
 										CAN_MAX_DLEN);
 
-	bcm_msg.frames.push_back(cfd);
+	bcm_msg.frames = cfd;
 
 	if(can_socket_ << bcm_msg)
 		return 0;
diff --git a/CAN-binder/low-can-binding/utils/socketcan.cpp b/CAN-binder/low-can-binding/utils/socketcan.cpp
index 486c34f..53631e9 100644
--- a/CAN-binder/low-can-binding/utils/socketcan.cpp
+++ b/CAN-binder/low-can-binding/utils/socketcan.cpp
@@ -161,18 +161,4 @@ namespace utils
 
 		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)
-	{
-		s << obj.msg_head;
-		s << obj.frames;
-		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 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);