+
+/// @brief Close the bus.
+///
+/// @return interger return value of socket.close() function
+int can_bus_dev_t::close()
+{
+ return can_socket_.close();
+}
+
+/// @brief Read the can socket and retrieve canfd_frame.
+///
+/// Read operation are blocking and we try to read CANFD frame
+/// rather than classic CAN frame. CANFD frame are retro compatible.
+can_message_t can_bus_dev_t::read()
+{
+ ssize_t nbytes;
+ struct canfd_frame cfd;
+
+ // Test that socket is really opened
+ if (!can_socket_)
+ {
+ ERROR(binder_interface, "read: Socket unavailable. Closing thread.");
+ is_running_ = false;
+ }
+
+ nbytes = ::read(can_socket_.socket(), &cfd, CANFD_MTU);
+
+ // if we did not fit into CAN sized messages then stop_reading.
+ if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
+ {
+ if (errno == ENETDOWN)
+ ERROR(binder_interface, "read: %s CAN device down", device_name_.c_str());
+ ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
+ ::memset(&cfd, 0, sizeof(cfd));
+ }
+
+ DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len,
+ cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
+ return can_message_t::convert_from_canfd_frame(cfd, nbytes);
+}
+
+/// @brief start reading threads and set flag is_running_
+/// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue.
+void can_bus_dev_t::start_reading(can_bus_t& can_bus)
+{
+ DEBUG(binder_interface, "Launching reading thread");
+ is_running_ = true;
+ th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
+ if(!th_reading_.joinable())
+ is_running_ = false;
+}
+
+/// @brief stop the reading thread setting flag is_running_ to false and and wait that the thread finish its job.
+void can_bus_dev_t::stop_reading()
+{
+ is_running_ = false;
+}
+
+/// @brief Thread function used to read the can socket.
+/// @param[in] can_bus - object to be used to read the can socket
+void can_bus_dev_t::can_reader(can_bus_t& can_bus)
+{
+ while(is_running_)
+ {
+ can_message_t msg = read();
+ {
+ std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
+ can_bus.push_new_can_message(msg);
+ }
+ can_bus.get_new_can_message_cv().notify_one();
+ }
+}
+
+/// @brief Send a can message from a can_message_t object.
+/// @param[in] can_msg - the can message object to send
+///
+/// @return 0 if message snet, -1 if something wrong.
+int can_bus_dev_t::send(can_message_t& can_msg)
+{
+ ssize_t nbytes;
+ canfd_frame f;
+
+ f = can_msg.convert_to_canfd_frame();
+
+ if(can_socket_)
+ {
+ nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
+ (struct sockaddr*)&txAddress_, sizeof(txAddress_));
+ if (nbytes == -1)
+ {
+ ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
+ return -1;
+ }
+ return (int)nbytes;
+ }
+ else
+ {
+ ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+ open();
+ }
+ return 0;
+}
+
+/// @brief Static method used to send diagnostic CAN message
+/// that follow isotp SendShimsMessage signature. This method is launched
+/// from diagnostic manager's' same name method. It will use the diagnostic
+/// manager configured CAN bus device to send the CAN message.
+///
+/// @param[in] arbitration_id - CAN arbitration id.
+/// @param[in] data - CAN message payload to send
+/// @param[in] size - size of the data to send
+///
+/// @return True if message sent, false if not.
+bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
+{
+ ssize_t nbytes;
+ canfd_frame f;
+
+ f.can_id = arbitration_id;
+ f.len = size;
+ ::memcpy(f.data, data, size);
+
+ if(can_socket_)
+ {
+ nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
+ (struct sockaddr*)&txAddress_, sizeof(txAddress_));
+ if (nbytes == -1)
+ {
+ ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
+ return false;
+ }
+ return true;
+ }
+ else
+ {
+ ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+ open();
+ }
+ return false;
+}