Derivate socketcan to multiple child depending upon socket CAN type.

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

diff --git a/CAN-binder/low-can-binding/utils/socketcan.hpp b/CAN-binder/low-can-binding/utils/socketcan.hpp
index c7cd5c9..391fb46 100644 (file)
--- a/CAN-binder/low-can-binding/utils/socketcan.hpp
+++ b/CAN-binder/low-can-binding/utils/socketcan.hpp
@@ -21,49 +21,36 @@
 
 #include <sys/socket.h>
 #include <linux/can/bcm.h>
+#include <string.h>
 
 #include "../can/can-message.hpp"
+#include "../low-can-binding.hpp"
 
 #define INVALID_SOCKET -1
 
 namespace utils
 {
-
-       template <typename T>
-       struct basic_bcm_msg
-       {
-               bcm_msg_head msg_head;
-               std::vector<T> frames;
-       };
-
-       struct canfd_bcm_msg : public basic_bcm_msg<canfd_frame>
-       {
-       canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
-       };
-
        class socketcan_t
        {
        public:
                socketcan_t();
                socketcan_t(const socketcan_t&) = delete;
                socketcan_t(socketcan_t&&);
-               ~socketcan_t();
+               virtual ~socketcan_t();
 
                const struct sockaddr_can& get_tx_address() const;
                explicit operator bool() const;
 
                int socket() const;
-               int open(std::string device_name);
+               virtual int open(std::string device_name) = 0;
                int setopt(int level, int optname, const void* optval, socklen_t optlen);
                int close();
 
-       private:
+       protected:
                int socket_;
                struct sockaddr_can tx_address_;
 
                int open(int domain, int type, int protocol);
-               int bind(const struct sockaddr* addr, socklen_t len);
-               int connect(const struct sockaddr* addr, socklen_t len);
        };
 
        template <typename T>
@@ -73,11 +60,14 @@ namespace utils
                        s << obj;
                return s;
        }
-       socketcan_t& operator<<(socketcan_t& s, const canfd_frame& frame);
-       socketcan_t& operator<<(socketcan_t& s, const can_frame& frame);
-       socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<can_frame>& obj);
-       socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj);
-       socketcan_t& operator<<(socketcan_t& s, const struct bcm_msg_head& obj);
 
-       socketcan_t& operator>>(socketcan_t& s, const can_message_t& cm);
+       template <typename T>
+       socketcan_t& operator<<(socketcan_t& s, const T& obj)
+       {
+               if (::sendto(s.socket(), &obj, sizeof(obj), 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0)
+                       ERROR(binder_interface, "%s: Error sending : %i %s", __FUNCTION__, errno, ::strerror(errno));
+               return s;
+       }
+
+       socketcan_t& operator>>(socketcan_t& s, can_message_t& cm);
 }