/// @brief Construct a socket by moving an existing one.
socketcan_t::socketcan_t(socketcan_t&& s)
: socket_{s.socket_}
+ {}
+
+ socketcan_t& socketcan_t::operator=(const socketcan_t& s)
{
- s.socket_ = INVALID_SOCKET;
+ socket_ = std::move(s.socket_);
+ return *this;
}
- /// @brief Destruct the socket.
socketcan_t::~socketcan_t()
- {
- if(socket_ != INVALID_SOCKET)
- ::close(socket_);
- }
+ {}
const struct sockaddr_can& socketcan_t::get_tx_address() const
{
return socket_ != INVALID_SOCKET ? ::setsockopt(socket_, level, optname, optval, optlen) : 0;
}
- /// @brief Bind the socket.
- /// @return 0 if success.
- int socketcan_t::bind(const struct sockaddr* addr, socklen_t len)
- {
- return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
- }
-
- /// @brief Connect the socket.
- /// @return 0 if success.
- int socketcan_t::connect(const struct sockaddr* addr, socklen_t len)
- {
- return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
- }
-
/// @brief Get the file descriptor.
/// @return The socket's file descriptor
int socketcan_t::socket() const
{
return socket_;
}
-
- socketcan_t& operator>>(socketcan_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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