*/
-
+#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;
}
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_
}
/// @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;
}
return 0;
}
+
+/// @brief Static method used to send diagnostic CAN message
+/// that follow isotp SendShimsMessage signature. This method is launched
+/// from diagnostic manager's' same name method. It will use the diagnostic
+/// manager configured CAN bus device to send the CAN message.
+///
+/// @param[in] arbitration_id - CAN arbitration id.
+/// @param[in] data - CAN message payload to send
+/// @param[in] size - size of the data 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_)
+ {
+ 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;
+}