#include <string.h>
#include "../binding/low-can-hat.hpp"
+#include "../can/message/can-message.hpp"
#define INVALID_SOCKET -1
+#define NO_CAN_ID 0xFFFFFFFFU
namespace utils
{
+
class socketcan_t
{
public:
int socket() const;
virtual int open(std::string device_name) = 0;
int setopt(int level, int optname, const void* optval, socklen_t optlen);
- int close();
+ virtual int close();
+ virtual std::shared_ptr<message_t> read_message() = 0;
+ virtual int write_message(message_t& obj) = 0;
+ virtual int write_message(std::vector<message_t>& vobj);
protected:
int socket_;
struct sockaddr_can tx_address_;
-
int open(int domain, int type, int protocol);
+ int bind(const struct sockaddr* addr, socklen_t len);
+ int connect(const struct sockaddr* addr, socklen_t len);
};
-
- template <typename T>
- socketcan_t& operator<<(socketcan_t& s, const std::vector<T>& vobj)
- {
- for(const auto& obj : vobj)
- s << obj;
- return s;
- }
-
- template <typename T>
- socketcan_t& operator<<(socketcan_t& s, const T& obj)
- {
- if (::sendto(s.socket(), &obj, sizeof(obj), 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0)
- AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno));
- return s;
- }
}