/*
- * 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");
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.
/// 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>();
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)
+ int socketcan_bcm_t::write_message(message_t& m)
{
- 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)
- {
+ 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;
}
}