X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Futils%2Fsocketcan.cpp;h=0f2e01fd791d050506f8dec1cc8fcf180664fb2d;hb=82642e99f93cc62329f34a5f7b3656a5331f1c43;hp=c550f6ed922ecc03e9deff3f8a6c5f861b9031f9;hpb=f741d262ecd237121cc8cceb0f0893daa70bdf32;p=apps%2Fagl-service-can-low-level.git

diff --git a/CAN-binder/low-can-binding/utils/socketcan.cpp b/CAN-binder/low-can-binding/utils/socketcan.cpp
index c550f6ed..0f2e01fd 100644
--- a/CAN-binder/low-can-binding/utils/socketcan.cpp
+++ b/CAN-binder/low-can-binding/utils/socketcan.cpp
@@ -22,7 +22,6 @@
 #include <sys/ioctl.h>
 
 #include "socketcan.hpp"
-#include "can-message.hpp"
 
 namespace utils
 {
@@ -114,7 +113,7 @@ namespace utils
 		close();
 		
 		struct ifreq ifr;
-		socket_ = ::socket(PF_CAN, SOCK_DGRAM, CAN_BCM);
+		socket_ = open(PF_CAN, SOCK_DGRAM, CAN_BCM);
 
 		// Attempts to open a socket to CAN bus
 		::strcpy(ifr.ifr_name, device_name.c_str());
@@ -138,14 +137,14 @@ namespace utils
 		return socket_;
 	}
 
-	socketcan_t& operator>>(socketcan_t& s, const can_message_t& cm)
+	socketcan_t& operator>>(socketcan_t& s, can_message_t& cm)
 	{
 		struct {
 			struct bcm_msg_head msg_head;
 			struct can_frame frames;
 		} msg;
 
-		struct sockaddr_can addr = s.get_tx_address();
+		const struct sockaddr_can& addr = s.get_tx_address();
 		socklen_t addrlen = sizeof(addr);
 		struct ifreq ifr;
 
@@ -153,25 +152,12 @@ namespace utils
 		ifr.ifr_ifindex = addr.can_ifindex;
 		ioctl(s.socket(), SIOCGIFNAME, &ifr);
 
-		printf("Data available: %i bytes read\n", (int)nbytes);
-		printf("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X\n", ifr.ifr_name, msg.msg_head.can_id, msg.frames.len,
+		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]);
 
-		
-		return s;
-	}
-
-	socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<struct can_frame>& obj)
-	{
-		s << obj.msg_head;
-		s << obj.frames;
-		return s;
-	}
+		cm = ::can_message_t::convert_from_frame(msg.frames , nbytes-sizeof(struct bcm_msg_head));
 
-	socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj)
-	{
-		s << obj.msg_head;
-		s << obj.frames;
 		return s;
 	}
 }
\ No newline at end of file