X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Futils%2Fsocketcan-bcm.cpp;h=cd84a851d613aa38830481af0aafe049a73a1dcb;hb=71c41df6cd794b670f9a16ca060a9c4ab054200e;hp=835f7242b7a7240ee346015fc0c45d0f454bac21;hpb=8546fc68782d8a82a5c50a49ba1288dcb7714bf9;p=apps%2Fagl-service-can-low-level.git

diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
index 835f7242..cd84a851 100644
--- a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
+++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
@@ -19,6 +19,9 @@
 
 #include <net/if.h>
 #include <sys/ioctl.h>
+#include <fcntl.h>
+
+#include "../binding/application.hpp"
 
 namespace utils
 {
@@ -58,7 +61,42 @@ namespace utils
 				ERROR(binder_interface, "%s: Connect failed. %s", __FUNCTION__, strerror(errno));
 				close();
 			}
+			// Needed because of using systemD event loop. See sd_event_add_io manual.
+			fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK);
 		}
 		return socket_;
 	}
+
+	socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
+	{
+		struct {
+			struct bcm_msg_head msg_head;
+			struct can_frame frames;
+		} msg;
+
+		const struct sockaddr_can& addr = s.get_tx_address();
+		socklen_t addrlen = sizeof(addr);
+		struct ifreq ifr;
+
+		ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
+		ifr.ifr_ifindex = addr.can_ifindex;
+		ioctl(s.socket(), SIOCGIFNAME, &ifr);
+
+		DEBUG(binder_interface, "Data available: %i bytes read", (int)nbytes);
+		DEBUG(binder_interface, "read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, msg.msg_head.can_id, msg.frames.can_dlc,
+			msg.frames.data[0], msg.frames.data[1], msg.frames.data[2], msg.frames.data[3], msg.frames.data[4], msg.frames.data[5], msg.frames.data[6], msg.frames.data[7]);
+
+		struct timeval tv;
+		ioctl(s.socket(), SIOCGSTAMP, &tv);
+		uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
+		cm = ::can_message_t::convert_from_frame(msg.frames ,
+				nbytes-sizeof(struct bcm_msg_head),
+				timestamp);
+		if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(cm))
+			{cm.set_sub_id(msg.frames.data[2]);}
+		else
+			{cm.set_sub_id((int)s.socket());}
+
+		return s;
+	}
 }
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