Use the private method instead of direct C syscall.

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

diff --git a/CAN-binder/low-can-binding/utils/socketcan.cpp b/CAN-binder/low-can-binding/utils/socketcan.cpp
index c550f6e..0f2e01f 100644 (file)
--- a/CAN-binder/low-can-binding/utils/socketcan.cpp
+++ b/CAN-binder/low-can-binding/utils/socketcan.cpp
@@ -22,7 +22,6 @@
 #include <sys/ioctl.h>
 
 #include "socketcan.hpp"
-#include "can-message.hpp"
 
 namespace utils
 {
@@ -114,7 +113,7 @@ 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());
@@ -138,14 +137,14 @@ namespace utils
                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 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;
 
@@ -153,25 +152,12 @@ namespace utils
                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 basic_bcm_msg<struct can_frame>& obj)
-       {
-               s << obj.msg_head;
-               s << obj.frames;
-               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 canfd_bcm_msg& obj)
-       {
-               s << obj.msg_head;
-               s << obj.frames;
                return s;
        }
 }
\ No newline at end of file