*/
-
+#include <unistd.h>
#include <string.h>
#include <net/if.h>
#include <sys/ioctl.h>
}
/// @brief Close the bus.
-void can_bus_dev_t::close()
+int can_bus_dev_t::close()
{
- can_socket_.close();
+ return can_socket_.close();
}
/// @brief Read the can socket and retrieve canfd_frame
-std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read()
+can_message_t can_bus_dev_t::read()
{
ssize_t nbytes;
struct canfd_frame cfd;
f = can_msg.convert_to_canfd_frame();
- if(can_socket_)
+ if(can_socket_.socket())
{
nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
(struct sockaddr*)&txAddress_, sizeof(txAddress_));
}
return 0;
}
+
+/// @brief Send a can message from a can_message_t object.
+/// @param[in] can bus used to send the message
+/// @param[in] can_msg the can message object to send
+bool can_bus_dev_t::send_can_message(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
+{
+ ssize_t nbytes;
+ canfd_frame f;
+
+ f.can_id = arbitration_id;
+ f.len = size;
+ ::memcpy(f.data, data, size);
+
+ if(socket.socket())
+ {
+ nbytes = ::sendto(socket.socket(), &f, sizeof(struct canfd_frame), 0,
+ (struct sockaddr*)&txAddress_, sizeof(txAddress_));
+ if (nbytes == -1)
+ {
+ ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
+ return -1;
+ }
+ return (int)nbytes;
+ }
+ else
+ {
+ ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+ open();
+ }
+ return 0;
+}