* limitations under the License.
*/
+#include <vector>
+
#include <sys/socket.h>
#include <linux/can/bcm.h>
+#include <string.h>
-#include <vector>
+#include "../can/can-message.hpp"
+#include "../binding/low-can-hat.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(const socketcan_t& s);
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>
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);
+ 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;
+ }
}