int socketcan_raw_t::open(std::string device_name)
{
close();
-
+
struct ifreq ifr;
socket_ = socketcan_t::open(PF_CAN, SOCK_RAW, CAN_RAW);
// Attempts to open a socket to CAN bus
::strcpy(ifr.ifr_name, device_name.c_str());
- DEBUG("ifr_name is : %s", ifr.ifr_name);
+ AFB_DEBUG("ifr_name is : %s", ifr.ifr_name);
if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
{
- ERROR("ioctl failed. Error was : %s", strerror(errno));
+ AFB_ERROR("ioctl failed. Error was : %s", strerror(errno));
close();
}
else
if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
{
- ERROR("Bind failed. %s", strerror(errno));
+ AFB_ERROR("Bind failed. %s", strerror(errno));
close();
}
}
return socket_;
}
- socketcan_raw_t& operator>>(socketcan_raw_t& s, can_message_t& cm)
+ std::shared_ptr<message_t> socketcan_raw_t::read_message()
{
+ std::shared_ptr<can_message_t> cm = std::make_shared<can_message_t>();
struct canfd_frame frame;
- 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(), &frame, sizeof(frame), 0, (struct sockaddr*)&addr, &addrlen);
+ ssize_t nbytes = ::recvfrom(socket(), &frame, sizeof(frame), 0, (struct sockaddr*)&addr, &addrlen);
ifr.ifr_ifindex = addr.can_ifindex;
- ioctl(s.socket(), SIOCGIFNAME, &ifr);
+ ioctl(socket(), SIOCGIFNAME, &ifr);
- DEBUG("Data available: %i bytes read", (int)nbytes);
- DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, frame.can_id, frame.len,
+ AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
+ AFB_DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, frame.can_id, frame.len,
frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4], frame.data[5], frame.data[6], frame.data[7]);
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(frame , nbytes, timestamp);
- return s;
+ return cm;
+ }
+
+ void socketcan_raw_t::write_message(std::vector<std::shared_ptr<message_t>>& vobj)
+ {
+ AFB_WARNING("Not implemented");
+ }
+
+ void socketcan_raw_t::write_message(std::shared_ptr<message_t> cm)
+ {
+ AFB_WARNING("Not implemented");
}
-}
\ No newline at end of file
+}