X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Futils%2Fsocketcan.cpp;h=4d22654729384bdb3868b44f68fffe21e9c425c6;hb=7679cd97dc4c20103f8afb364437dbcfd359befc;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..4d226547 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
 {
@@ -84,20 +83,6 @@ namespace utils
 		return socket_ != INVALID_SOCKET ? ::setsockopt(socket_, level, optname, optval, optlen) : 0;
 	}
 
-	/// @brief Bind the socket.
-	/// @return 0 if success.
-	int socketcan_t::bind(const struct sockaddr* addr, socklen_t len)
-	{
-		return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
-	}
-
-	/// @brief Connect the socket.
-	/// @return 0 if success.
-	int socketcan_t::connect(const struct sockaddr* addr, socklen_t len)
-	{
-		return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
-	}
-
 	/// @brief Get the file descriptor.
 	/// @return The socket's file descriptor
 	int socketcan_t::socket() const
@@ -105,47 +90,14 @@ namespace utils
 		return socket_;
 	}
 
-	/// @brief Open a raw socket CAN.
-	/// @param[in] device_name is the kernel network device name of the CAN interface.
-	///
-	/// @return Upon successful completion, shall return a non-negative integer, the socket file descriptor. Otherwise, a value of -1 shall be returned and errno set to indicate the error.
-	int socketcan_t::open(std::string device_name)
-	{
-		close();
-		
-		struct ifreq ifr;
-		socket_ = ::socket(PF_CAN, SOCK_DGRAM, CAN_BCM);
-
-		// Attempts to open a socket to CAN bus
-		::strcpy(ifr.ifr_name, device_name.c_str());
-		DEBUG(binder_interface, "%s: ifr_name is : %s", __FUNCTION__, ifr.ifr_name);
-		if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
-		{
-			ERROR(binder_interface, "%s: ioctl failed. Error was : %s", __FUNCTION__, strerror(errno));
-			close();
-		}
-		else
-		{
-			tx_address_.can_family = AF_CAN;
-			tx_address_.can_ifindex = ifr.ifr_ifindex;
-
-			if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
-			{
-				ERROR(binder_interface, "%s: Connect failed. %s", __FUNCTION__, strerror(errno));
-				close();
-			}
-		}
-		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 +105,12 @@ 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;
-	}
+		cm = ::can_message_t::convert_from_frame(msg.frames , nbytes-sizeof(struct bcm_msg_head));
 
-	socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<struct can_frame>& obj)
-	{
-		s << obj.msg_head;
-		s << obj.frames;
-		return s;
-	}
-
-	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