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[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 b9124ee..a582043 100644 (file)
--- a/low-can-binding/utils/socketcan-bcm.cpp
+++ b/low-can-binding/utils/socketcan-bcm.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
+ * Copyright (C) 2015, 2016 , 2017, 2018, 2019 "IoT\.bzh"
  * Author "Romain Forlot" <romain.forlot@iot.bzh>
  * Author "Loïc Collignon" <loic.collignon@iot.bzh>
  * Licensed under the Apache License, Version 2.0 (the "License");
@@ -25,12 +25,6 @@
 
 namespace utils
 {
-       /// @brief Connect the socket.
-       /// @return 0 if success.
-       int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len)
-       {
-               return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
-       }
 
        /// @brief Open a raw socket CAN.
        /// @param[in] device_name is the kernel network device name of the CAN interface.
@@ -44,33 +38,33 @@ namespace utils
                socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_BCM);
 
                // Attempts to open a socket to CAN bus
+               tx_address_.can_family = AF_CAN;
                ::strcpy(ifr.ifr_name, device_name.c_str());
                AFB_DEBUG("BCM socket ifr_name is : %s", ifr.ifr_name);
                if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
                {
                        AFB_ERROR("ioctl failed. Error was : %s", strerror(errno));
                        close();
+                       return -1;
                }
-               else
+
+               tx_address_.can_ifindex = ifr.ifr_ifindex;
+               if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
                {
-                       tx_address_.can_family = AF_CAN;
-                       tx_address_.can_ifindex = ifr.ifr_ifindex;
-
-                       if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
-                       {
-                               AFB_ERROR("Connect failed. %s", strerror(errno));
-                               close();
-                       }
-                       // Needed because of using systemD event loop. See sd_event_add_io manual.
-                       fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK);
+                       AFB_ERROR("Connect failed. %s", strerror(errno));
+                       close();
+                       return -1;
                }
+               // Needed because of using systemD event loop. See sd_event_add_io manual.
+               fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK);
+
                return socket_;
        }
 
        /// 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.
-       std::shared_ptr<can_message_t> socketcan_bcm_t::read_message()
+       std::shared_ptr<message_t> socketcan_bcm_t::read_message()
        {
                struct bcm_msg msg;
                std::shared_ptr<can_message_t> cm = std::make_shared<can_message_t>();
@@ -98,34 +92,24 @@ namespace utils
                struct timeval 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 = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp);
                cm->set_sub_id((int)socket());
 
                return cm;
        }
 
-       void socketcan_bcm_t::write_message(std::vector<std::shared_ptr<can_message_t>>& vobj)
-       {
-               for(const auto& obj : vobj)
-                       write_message(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)
+       int socketcan_bcm_t::write_message(message_t& m)
        {
+               can_message_t&  cm = reinterpret_cast<can_message_t&>(m);
+               struct bcm_msg obj = cm.get_bcm_msg();
                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);
+                       (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));
+               {
+                       AFB_ERROR("Error sending : %i %s", errno, ::strerror(errno));
+                       return -1;
+               }
+               return 0;
        }
 }