X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Futils%2Fsocketcan.hpp;h=3c02a4fa535b49f860cbc003a2d389241235d2db;hb=7679cd97dc4c20103f8afb364437dbcfd359befc;hp=2c79036467888a2e22549529aa23253f97c2d384;hpb=901a27b0631909647137f49ccf12f4e9bfe38817;p=apps%2Fagl-service-can-low-level.git

diff --git a/CAN-binder/low-can-binding/utils/socketcan.hpp b/CAN-binder/low-can-binding/utils/socketcan.hpp
index 2c790364..3c02a4fa 100644
--- a/CAN-binder/low-can-binding/utils/socketcan.hpp
+++ b/CAN-binder/low-can-binding/utils/socketcan.hpp
@@ -17,51 +17,40 @@
  * limitations under the License.
  */
 
+#include <vector>
+
 #include <sys/socket.h>
 #include <linux/can/bcm.h>
+#include <string.h>
 
-#include <vector>
+#include "../can/can-message.hpp"
+#include "../low-can-binding.hpp"
 
 #define INVALID_SOCKET -1
 
 namespace utils
 {
-
-	template <typename T>
-	struct basic_bcm_msg
-	{
-		bcm_msg_head msg_head;
-		std::vector<T> frames;
-	};
-
-	struct canfd_bcm_msg : public basic_bcm_msg<canfd_frame>
-	{
-	canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
-	};
-
 	class socketcan_t
 	{
 	public:
 		socketcan_t();
-		socketcan_t(const socketcan_t&) = delete;
+		socketcan_t(const socketcan_t&);
 		socketcan_t(socketcan_t&&);
-		~socketcan_t();
+		virtual ~socketcan_t();
 
 		const struct sockaddr_can& get_tx_address() const;
 		explicit operator bool() const;
 
 		int socket() const;
-		int open(std::string device_name);
+		virtual int open(std::string device_name) = 0;
 		int setopt(int level, int optname, const void* optval, socklen_t optlen);
 		int close();
 
-	private:
+	protected:
 		int socket_;
 		struct sockaddr_can tx_address_;
 
 		int open(int domain, int type, int protocol);
-		int bind(const struct sockaddr* addr, socklen_t len);
-		int connect(const struct sockaddr* addr, socklen_t len);
 	};
 
 	template <typename T>
@@ -72,9 +61,13 @@ namespace utils
 		return s;
 	}
 
-	socketcan_t& operator<<(socketcan_t& s, const canfd_frame& frame);
-	socketcan_t& operator<<(socketcan_t& s, const can_frame& frame);
-	socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<can_frame>& obj);
-	socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj);
-	socketcan_t& operator<<(socketcan_t& s, const struct bcm_msg_head& obj);
+	template <typename T>
+	socketcan_t& operator<<(socketcan_t& s, const T& obj)
+	{
+		if (::sendto(s.socket(), &obj, sizeof(obj), 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0)
+			ERROR(binder_interface, "%s: Error sending : %i %s", __FUNCTION__, errno, ::strerror(errno));
+		return s;
+	}
+
+	socketcan_t& operator>>(socketcan_t& s, can_message_t& cm);
 }