fixed CMakeLists.txt

[apps/agl-service-can-low-level.git] / src / can / can-bus-dev.cpp

diff --git a/src/can/can-bus-dev.cpp b/src/can/can-bus-dev.cpp
index 32e852e..87d7bf5 100644 (file)
--- a/src/can/can-bus-dev.cpp
+++ b/src/can/can-bus-dev.cpp
@@ -17,7 +17,7 @@
 */
 
 
-
+#include <unistd.h>
 #include <string.h>
 #include <net/if.h>
 #include <sys/ioctl.h>
@@ -39,7 +39,7 @@ can_bus_dev_t::can_bus_dev_t(const std::string& dev_name)
 }
 
 /// @brief Open the can socket and returning it
-/// @return -1
+/// @return -1 if something wrong.
 int can_bus_dev_t::open()
 {
        const int canfd_on = 1;
@@ -48,7 +48,8 @@ int can_bus_dev_t::open()
        struct timeval timeout;
 
        DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_.socket());
-       if (can_socket_) return 0;
+       if (can_socket_)
+               return 0;
 
        can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW);
        if (can_socket_)
@@ -100,13 +101,13 @@ int can_bus_dev_t::open()
 }
 
 /// @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;
@@ -131,7 +132,7 @@ std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read()
 
        DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len,
                                                        cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
-       return can_message_t::convert_to_canfd_frame(cfd, nbytes);
+       return can_message_t::convert_from_canfd_frame(cfd, nbytes);
 }
 
 /// @brief start reading threads and set flag is_running_
@@ -167,15 +168,46 @@ void can_bus_dev_t::can_reader(can_bus_t& can_bus)
 }
 
 /// @brief Send a can message from a can_message_t object.
-/// @param[in] can_msg the can message object to send 
-int can_bus_dev_t::send_can_message(can_message_t& can_msg)
+/// @param[in] can_msg the can message object to send
+int can_bus_dev_t::send(can_message_t& can_msg)
 {
        ssize_t nbytes;
        canfd_frame f;
 
        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_));
+               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;
+}
+
+/// @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::shims_send(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(can_socket_.socket())
        {
                nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
                        (struct sockaddr*)&txAddress_, sizeof(txAddress_));