Move reading input stream to specialized socket class.

[apps/agl-service-can-low-level.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 835f724..b0148d9 100644 (file)
--- a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
+++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
@@ -61,4 +61,28 @@ namespace utils
                }
                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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