Make template from similar writing stream operations.

[apps/low-level-can-service.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 17ce6ce..c550f6e 100644 (file)
--- a/CAN-binder/low-can-binding/utils/socketcan.cpp
+++ b/CAN-binder/low-can-binding/utils/socketcan.cpp
@@ -17,13 +17,12 @@
 
 #include <unistd.h>
 #include <string>
-#include <string.h>
 #include <linux/can/raw.h>
 #include <net/if.h>
 #include <sys/ioctl.h>
 
 #include "socketcan.hpp"
-#include "low-can-binding.hpp"
+#include "can-message.hpp"
 
 namespace utils
 {
@@ -139,24 +138,26 @@ namespace utils
                return socket_;
        }
 
-       socketcan_t& operator<<(socketcan_t& s, const struct bcm_msg_head& obj)
+       socketcan_t& operator>>(socketcan_t& s, const can_message_t& cm)
        {
-               struct sockaddr_can addr = s.get_tx_address();
-               ::sendto(s.socket(), &obj, sizeof(bcm_msg_head), 0, (struct sockaddr*)&addr, sizeof(addr));
-               return s;
-       }
+               struct {
+                       struct bcm_msg_head msg_head;
+                       struct can_frame frames;
+               } msg;
 
-       socketcan_t& operator<<(socketcan_t& s, const struct canfd_frame& obj)
-       {
                struct sockaddr_can addr = s.get_tx_address();
-               ::sendto(s.socket(), &obj, sizeof(canfd_frame), 0, (struct sockaddr*)&addr, sizeof(addr));
-               return s;
-       }
+               socklen_t addrlen = sizeof(addr);
+               struct ifreq ifr;
 
-       socketcan_t& operator<<(socketcan_t& s, const struct can_frame& obj)
-       {
-               struct sockaddr_can addr = s.get_tx_address();
-               ::sendto(s.socket(), &obj, sizeof(can_frame), 0, (struct sockaddr*)&addr, sizeof(addr));
+               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);
+
+               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,
+                       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;
        }