Added a static method to get used by Diagnostic manager

[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 a6429ed..f459567 100644 (file)
--- a/src/can/can-bus-dev.cpp
+++ b/src/can/can-bus-dev.cpp
@@ -175,7 +175,7 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg)
 
        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_));
@@ -193,3 +193,34 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg)
        }
        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 uint16_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;
+}