Implement a new socket type CAN for j1939 protocol

[apps/agl-service-can-low-level.git] / low-can-binding / utils / socketcan-bcm.cpp

diff --git a/low-can-binding/utils/socketcan-bcm.cpp b/low-can-binding/utils/socketcan-bcm.cpp
index 3f3a096..b9124ee 100644 (file)
--- a/low-can-binding/utils/socketcan-bcm.cpp
+++ b/low-can-binding/utils/socketcan-bcm.cpp
@@ -70,53 +70,62 @@ namespace utils
        /// Read the socket to retrieve the associated CAN message. All the hard work is do into
        /// convert_from_frame method and if there isn't CAN message retrieve, only BCM head struct,
        /// then CAN message will be zeroed and must be handled later.
-       socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
+       std::shared_ptr<can_message_t> socketcan_bcm_t::read_message()
        {
-               struct utils::bcm_msg msg;
+               struct bcm_msg msg;
+               std::shared_ptr<can_message_t> cm = std::make_shared<can_message_t>();
 
-               const struct sockaddr_can& addr = s.get_tx_address();
+               const struct sockaddr_can& addr = get_tx_address();
                socklen_t addrlen = sizeof(addr);
                struct ifreq ifr;
 
-               ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
+               ssize_t nbytes = ::recvfrom(socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
                if(nbytes < 0)
                {
-                       AFB_ERROR("Can't read the next message from socket '%d'. '%s'", s.socket(), strerror(errno));
-                       return s;
+                       AFB_ERROR("Can't read the next message from socket '%d'. '%s'", socket(), strerror(errno));
+                       return cm;
                }
                ifr.ifr_ifindex = addr.can_ifindex;
-               if(ioctl(s.socket(), SIOCGIFNAME, &ifr) < 0)
+               if(ioctl(socket(), SIOCGIFNAME, &ifr) < 0)
                {
                        AFB_ERROR("Can't read the interface name. '%s'", strerror(errno));
-                       return s;
+                       return cm;
                }
                long unsigned int frame_size = nbytes-sizeof(struct bcm_msg_head);
 
                AFB_DEBUG("Data available: %li bytes read. BCM head, opcode: %i, can_id: %i, nframes: %i", frame_size, msg.msg_head.opcode, msg.msg_head.can_id, msg.msg_head.nframes);
 
                struct timeval tv;
-               ioctl(s.socket(), SIOCGSTAMP, &tv);
+               ioctl(socket(), SIOCGSTAMP, &tv);
                uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
-               cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp);
-               cm.set_sub_id((int)s.socket());
+               *cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp);
+               cm->set_sub_id((int)socket());
 
-               return s;
+               return cm;
        }
 
-       socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const std::vector<struct utils::bcm_msg>& vobj)
+       void socketcan_bcm_t::write_message(std::vector<std::shared_ptr<can_message_t>>& vobj)
        {
                for(const auto& obj : vobj)
-                       s << obj;
-               return s;
+                       write_message(obj);
        }
 
-       socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct utils::bcm_msg& obj)
+       void socketcan_bcm_t::write_message(std::shared_ptr<can_message_t> m)
+       {
+               struct can_frame obj;
+               obj.can_id  = m->get_id();
+               obj.can_dlc = m->get_length();
+               ::memcpy(obj.data, m->get_data(), CAN_MAX_DLEN);
+               if (::sendto(socket(), &obj, sizeof(&obj), 0, (const struct sockaddr*)&get_tx_address(), sizeof(get_tx_address())) < 0)
+                       AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno));
+       }
+
+       void socketcan_bcm_t::write_message(struct bcm_msg& obj)
        {
                size_t size = (obj.msg_head.flags & CAN_FD_FRAME) ?
-                             (size_t)((char*)&obj.fd_frames[obj.msg_head.nframes] - (char*)&obj):
-                             (size_t)((char*)&obj.frames[obj.msg_head.nframes] - (char*)&obj);
-               if (::sendto(s.socket(), &obj, size, 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0)
+               (size_t)((char*)&obj.fd_frames[obj.msg_head.nframes] - (char*)&obj):
+               (size_t)((char*)&obj.frames[obj.msg_head.nframes] - (char*)&obj);
+               if (::sendto(socket(), &obj, size, 0, (const struct sockaddr*)&get_tx_address(), sizeof(get_tx_address())) < 0)
                        AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno));
-               return s;
        }
 }