#include "can-bus.hpp"
#include "can-message.hpp"
-#include "low-can-binding.hpp"
+#include "../low-can-binding.hpp"
/// @brief Class constructor
/// @param dev_name String representing the device name into the linux /dev tree
-can_bus_dev_t::can_bus_dev_t(const std::string& dev_name)
- : device_name_{dev_name}
+can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int32_t address)
+ : device_name_{dev_name}, address_{address}
+{}
+
+std::string can_bus_dev_t::get_device_name() const
{
+ return device_name_;
+}
+
+uint32_t can_bus_dev_t::get_address() const
+{
+ return address_;
}
/// @brief Open the can socket and returning it
}
close();
}
- else ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
+ else ERROR(binder_interface, "open: socket could not be created. Error was : %s", ::strerror(errno));
return -1;
}
struct canfd_frame cfd;
// Test that socket is really opened
- if (can_socket_)
+ if (!can_socket_)
{
- ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
+ ERROR(binder_interface, "read: Socket unavailable. Closing thread.");
is_running_ = false;
}
f = can_msg.convert_to_canfd_frame();
- if(can_socket_.socket())
+ if(can_socket_)
{
nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
(struct sockaddr*)&txAddress_, sizeof(txAddress_));
f.len = size;
::memcpy(f.data, data, size);
- if(can_socket_.socket())
+ if(can_socket_)
{
nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
(struct sockaddr*)&txAddress_, sizeof(txAddress_));