#include <unistd.h>
#include <string>
-#include <string.h>
#include <linux/can/raw.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include "socketcan.hpp"
-#include "low-can-binding.hpp"
-#include "can-message.hpp"
namespace utils
{
close();
struct ifreq ifr;
- socket_ = ::socket(PF_CAN, SOCK_DGRAM, CAN_BCM);
+ socket_ = open(PF_CAN, SOCK_DGRAM, CAN_BCM);
// Attempts to open a socket to CAN bus
::strcpy(ifr.ifr_name, device_name.c_str());
return socket_;
}
- socketcan_t& operator>>(socketcan_t& s, const can_message_t& cm)
+ socketcan_t& operator>>(socketcan_t& s, can_message_t& cm)
{
struct {
struct bcm_msg_head msg_head;
- struct canfd_frame frames;
+ struct can_frame frames;
} msg;
- struct sockaddr_can addr = s.get_tx_address();
+ const struct sockaddr_can& addr = s.get_tx_address();
socklen_t addrlen = sizeof(addr);
struct ifreq ifr;
ifr.ifr_ifindex = addr.can_ifindex;
ioctl(s.socket(), SIOCGIFNAME, &ifr);
- printf("Data available: %i bytes read\n", (int)nbytes);
- printf("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X\n", ifr.ifr_name, msg.msg_head.can_id, msg.frames.len,
+ 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]);
- return s;
- }
-
- 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;
- }
+ cm = ::can_message_t::convert_from_frame(msg.frames , nbytes-sizeof(struct bcm_msg_head));
- 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