*/
-
+#include <unistd.h>
#include <string.h>
#include <net/if.h>
#include <sys/ioctl.h>
#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
-/// @return -1
+/// @return -1 if something wrong.
int can_bus_dev_t::open()
{
const int canfd_on = 1;
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_)
}
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;
}
/// @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;
// 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;
}
/// @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)
+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_.socket())
+ if(can_socket_)
{
nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
(struct sockaddr*)&txAddress_, sizeof(txAddress_));
/// @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 uint16_t arbitration_id, const uint8_t* data, const uint8_t size)
+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.len = size;
::memcpy(f.data, data, size);
- if(socket.socket())
+ if(can_socket_)
{
- nbytes = ::sendto(socket.socket(), &f, sizeof(struct canfd_frame), 0,
+ nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
(struct sockaddr*)&txAddress_, sizeof(txAddress_));
if (nbytes == -1)
{