Close socket by default when destroying object

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

diff --git a/CAN-binder/low-can-binding/utils/socketcan-raw.cpp b/CAN-binder/low-can-binding/utils/socketcan-raw.cpp
index 2c2b54e..a35a99d 100644 (file)
--- a/CAN-binder/low-can-binding/utils/socketcan-raw.cpp
+++ b/CAN-binder/low-can-binding/utils/socketcan-raw.cpp
@@ -17,25 +17,16 @@
 
 #include "socketcan-raw.hpp"
 
+#include <net/if.h>
+#include <sys/ioctl.h>
+
 namespace utils
 {
-       /// @brief Construct a default, invalid, socket.
-       socketcan_raw_t::socketcan_raw_t()
-               : socketcan_t{}, socket_{INVALID_SOCKET}
-       {}
-
-       /// @brief Construct a socket by moving an existing one.
-       socketcan_raw_t::socketcan_raw_t(socketcan_raw_t&& s)
-               : socket_{s.socket_}
+       /// @brief Bind the socket.
+       /// @return 0 if success.
+       int socketcan_raw_t::bind(const struct sockaddr* addr, socklen_t len)
        {
-               s.socket_ = INVALID_SOCKET;
-       }
-
-       /// @brief Destruct the socket.
-       socketcan_raw_t::~socketcan_raw_t()
-       {
-               if(socket_ != INVALID_SOCKET)
-                       ::close(socket_);
+               return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
        }
 
        /// @brief Open a raw socket CAN.
@@ -47,7 +38,7 @@ namespace utils
                close();
                
                struct ifreq ifr;
-               socket_ = open(PF_CAN, SOCK_RAW, CAN_RAW);
+               socket_ = socketcan_t::open(PF_CAN, SOCK_RAW, CAN_RAW);
 
                // Attempts to open a socket to CAN bus
                ::strcpy(ifr.ifr_name, device_name.c_str());
@@ -70,4 +61,28 @@ namespace utils
                }
                return socket_;
        }
+
+       socketcan_raw_t& operator>>(socketcan_raw_t& s, can_message_t& cm)
+       {
+               struct canfd_frame frame;
+
+               const struct sockaddr_can& addr = s.get_tx_address();
+               socklen_t addrlen = sizeof(addr);
+               struct ifreq ifr;
+
+               ssize_t nbytes = ::recvfrom(s.socket(), &frame, sizeof(frame), 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, frame.can_id, frame.len,
+                       frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4], frame.data[5], frame.data[6], frame.data[7]);
+
+               struct timeval tv;
+               ioctl(s.socket(), SIOCGSTAMP, &tv);
+               uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
+               cm = ::can_message_t::convert_from_frame(frame , nbytes, timestamp);
+
+               return s;
+       }
 }
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