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-rw-r--r--src/can/can-bus-dev.cpp10
-rw-r--r--src/can/can-bus-dev.hpp5
2 files changed, 8 insertions, 7 deletions
diff --git a/src/can/can-bus-dev.cpp b/src/can/can-bus-dev.cpp
index f459567..157f7de 100644
--- a/src/can/can-bus-dev.cpp
+++ b/src/can/can-bus-dev.cpp
@@ -17,7 +17,7 @@
*/
-
+#include <unistd.h>
#include <string.h>
#include <net/if.h>
#include <sys/ioctl.h>
@@ -100,13 +100,13 @@ int can_bus_dev_t::open()
}
/// @brief Close the bus.
-void can_bus_dev_t::close()
+int can_bus_dev_t::close()
{
- can_socket_.close();
+ return can_socket_.close();
}
/// @brief Read the can socket and retrieve canfd_frame
-std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read()
+can_message_t can_bus_dev_t::read()
{
ssize_t nbytes;
struct canfd_frame cfd;
@@ -197,7 +197,7 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg)
/// @brief Send a can message from a can_message_t object.
/// @param[in] can bus used to send the message
/// @param[in] can_msg the can message object to send
-bool can_bus_dev_t::send_can_message(const uint16_t arbitration_id, const uint8_t* data, const uint8_t size)
+bool can_bus_dev_t::send_can_message(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
{
ssize_t nbytes;
canfd_frame f;
diff --git a/src/can/can-bus-dev.hpp b/src/can/can-bus-dev.hpp
index 59d999f..744f53f 100644
--- a/src/can/can-bus-dev.hpp
+++ b/src/can/can-bus-dev.hpp
@@ -18,6 +18,7 @@
#pragma once
+#include <stdint.h>
#include <string>
#include <thread>
#include <linux/can.h>
@@ -54,8 +55,8 @@ public:
void stop_reading();
- std::pair<struct canfd_frame&, size_t> read();
+ can_message_t read();
int send_can_message(can_message_t& can_msg);
- static bool send_can_message(const uint16_t arbitration_id, const uint8_t* data, const uint8_t size);
+ static bool send_can_message(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
};