get verb: add option id

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

diff --git a/low-can-binding/utils/socketcan-raw.cpp b/low-can-binding/utils/socketcan-raw.cpp
index 31965c3..fa162fa 100644 (file)
--- a/low-can-binding/utils/socketcan-raw.cpp
+++ b/low-can-binding/utils/socketcan-raw.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");
@@ -22,12 +22,6 @@
 
 namespace utils
 {
-       /// @brief Bind the socket.
-       /// @return 0 if success.
-       int socketcan_raw_t::bind(const struct sockaddr* addr, socklen_t len)
-       {
-               return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
-       }
 
        /// @brief Open a raw socket CAN.
        /// @param[in] device_name is the kernel network device name of the CAN interface.
@@ -36,16 +30,16 @@ namespace utils
        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
@@ -55,34 +49,41 @@ namespace utils
 
                        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;
+       }
+
+       int socketcan_raw_t::write_message(message_t& m)
+       {
+               AFB_WARNING("Not implemented");
+               return -1;
        }
-}
\ No newline at end of file
+}