Add 'CAN-binder/libs/openxc-message-format/' from commit 'd9f54f97578429773421abce98d...

[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 673303b..8a71d3a 100644 (file)
--- a/CAN-binder/low-can-binding/utils/socketcan.hpp
+++ b/CAN-binder/low-can-binding/utils/socketcan.hpp
@@ -24,23 +24,23 @@
 #include <string.h>
 
 #include "../can/can-message.hpp"
-#include "low-can-binding.hpp"
+#include "../low-can-binding.hpp"
 
 #define INVALID_SOCKET -1
-#define U64_DATA(p) (*(unsigned long long*)(p)->data)
+
 namespace utils
 {
-
-       template <typename T>
-       struct basic_bcm_msg
+       struct simple_bcm_msg
        {
                struct bcm_msg_head msg_head;
-               std::vector<T> frames;
+               struct can_frame frames;
        };
 
-       struct canfd_bcm_msg : public basic_bcm_msg<canfd_frame>
+       struct canfd_bcm_msg
        {
-       canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
+               struct bcm_msg_head msg_head;
+               struct canfd_frame frames;
+               canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
        };
 
        class socketcan_t
@@ -75,8 +75,17 @@ namespace utils
                        s << obj;
                return s;
        }
-       socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<can_frame>& 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;
+       }
+       
+       socketcan_t& operator<<(socketcan_t& s, const struct simple_bcm_msg& obj);
        socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj);
 
-       socketcan_t& operator>>(socketcan_t& s, const can_message_t& cm);
+       socketcan_t& operator>>(socketcan_t& s, can_message_t& cm);
 }