Fix: compile conversion warning

[apps/low-level-can-service.git] / CAN-binder / low-can-binding / utils / socketcan-bcm.cpp

diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
index cab9906..7323565 100644 (file)
--- a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
+++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
@@ -17,25 +17,17 @@
 
 #include "socketcan-bcm.hpp"
 
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <fcntl.h>
+
 namespace utils
 {
-       /// @brief Construct a default, invalid, socket.
-       socketcan_bcm_t::socketcan_bcm_t()
-               : socketcan_t{}
-       {}
-
-       /// @brief Construct a socket by moving an existing one.
-       socketcan_bcm_t::socketcan_bcm_t(socketcan_bcm_t&& s)
-               : socket_{s.socket_}
+       /// @brief Connect the socket.
+       /// @return 0 if success.
+       int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len)
        {
-               s.socket_ = INVALID_SOCKET;
-       }
-
-       /// @brief Destruct the socket.
-       socketcan_bcm_t::~socketcan_bcm_t()
-       {
-               if(socket_ != INVALID_SOCKET)
-                       ::close(socket_);
+               return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
        }
 
        /// @brief Open a raw socket CAN.
@@ -47,11 +39,11 @@ namespace utils
                close();
                
                struct ifreq ifr;
-               socket_ = open(PF_CAN, SOCK_DGRAM, CAN_BCM);
+               socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_BCM);
 
                // Attempts to open a socket to CAN bus
                ::strcpy(ifr.ifr_name, device_name.c_str());
-               DEBUG(binder_interface, "%s: ifr_name is : %s", __FUNCTION__, ifr.ifr_name);
+               DEBUG(binder_interface, "%s: BCM socket ifr_name is : %s", __FUNCTION__, ifr.ifr_name);
                if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
                {
                        ERROR(binder_interface, "%s: ioctl failed. Error was : %s", __FUNCTION__, strerror(errno));
@@ -67,7 +59,33 @@ namespace utils
                                ERROR(binder_interface, "%s: Connect failed. %s", __FUNCTION__, strerror(errno));
                                close();
                        }
+                       // Needed because of using systemD event loop. See sd_event_add_io manual.
+                       fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK);
                }
                return socket_;
        }
+
+       socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
+       {
+               struct {
+                       struct bcm_msg_head msg_head;
+                       struct can_frame frames;
+               } msg;
+
+               const struct sockaddr_can& addr = s.get_tx_address();
+               socklen_t addrlen = sizeof(addr);
+               struct ifreq ifr;
+
+               ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
+               ifr.ifr_ifindex = addr.can_ifindex;
+               ioctl(s.socket(), SIOCGIFNAME, &ifr);
+
+               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]);
+
+               cm = ::can_message_t::convert_from_frame(msg.frames , nbytes-sizeof(struct bcm_msg_head));
+
+               return s;
+       }
 }
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