#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
+ struct simple_bcm_msg
{
- bcm_msg_head msg_head;
- std::vector<T> frames;
+ struct bcm_msg_head msg_head;
+ 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
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);
+
+ 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 struct bcm_msg_head& obj);
- socketcan_t& operator>>(socketcan_t& s, const can_message_t& cm);
+ socketcan_t& operator>>(socketcan_t& s, can_message_t& cm);
}