X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Futils%2Fsocketcan-bcm.cpp;h=a58204345d744102653f5cfde13df81287c37ec3;hb=475e6c277fd6863545e44fe560b2657ab042ab8b;hp=b9124ee36d44ae2dbdd8387b5ac280436fb56fdd;hpb=a6fb72a70f90c35e0968f2460d324a8505410562;p=apps%2Fagl-service-can-low-level.git

diff --git a/low-can-binding/utils/socketcan-bcm.cpp b/low-can-binding/utils/socketcan-bcm.cpp
index b9124ee3..a5820434 100644
--- a/low-can-binding/utils/socketcan-bcm.cpp
+++ b/low-can-binding/utils/socketcan-bcm.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
+ * Copyright (C) 2015, 2016 , 2017, 2018, 2019 "IoT\.bzh"
  * Author "Romain Forlot" <romain.forlot@iot.bzh>
  * Author "Loïc Collignon" <loic.collignon@iot.bzh>
  * Licensed under the Apache License, Version 2.0 (the "License");
@@ -25,12 +25,6 @@
 
 namespace utils
 {
-	/// @brief Connect the socket.
-	/// @return 0 if success.
-	int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len)
-	{
-		return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
-	}
 
  	/// @brief Open a raw socket CAN.
 	/// @param[in] device_name is the kernel network device name of the CAN interface.
@@ -44,33 +38,33 @@ namespace utils
 		socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_BCM);
 
 		// Attempts to open a socket to CAN bus
+		tx_address_.can_family = AF_CAN;
 		::strcpy(ifr.ifr_name, device_name.c_str());
 		AFB_DEBUG("BCM socket ifr_name is : %s", ifr.ifr_name);
 		if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
 		{
 			AFB_ERROR("ioctl failed. Error was : %s", strerror(errno));
 			close();
+			return -1;
 		}
-		else
+
+		tx_address_.can_ifindex = ifr.ifr_ifindex;
+		if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
 		{
-			tx_address_.can_family = AF_CAN;
-			tx_address_.can_ifindex = ifr.ifr_ifindex;
-
-			if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
-			{
-				AFB_ERROR("Connect failed. %s", strerror(errno));
-				close();
-			}
-			// Needed because of using systemD event loop. See sd_event_add_io manual.
-			fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK);
+			AFB_ERROR("Connect failed. %s", strerror(errno));
+			close();
+			return -1;
 		}
+		// Needed because of using systemD event loop. See sd_event_add_io manual.
+		fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK);
+
 		return socket_;
 	}
 
 	/// Read the socket to retrieve the associated CAN message. All the hard work is do into
 	/// convert_from_frame method and if there isn't CAN message retrieve, only BCM head struct,
 	/// then CAN message will be zeroed and must be handled later.
-	std::shared_ptr<can_message_t> socketcan_bcm_t::read_message()
+	std::shared_ptr<message_t> socketcan_bcm_t::read_message()
 	{
 		struct bcm_msg msg;
 		std::shared_ptr<can_message_t> cm = std::make_shared<can_message_t>();
@@ -98,34 +92,24 @@ namespace utils
 		struct timeval tv;
 		ioctl(socket(), SIOCGSTAMP, &tv);
 		uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
-		*cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp);
+		cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp);
 		cm->set_sub_id((int)socket());
 
 		return cm;
 	}
 
-	void socketcan_bcm_t::write_message(std::vector<std::shared_ptr<can_message_t>>& vobj)
-	{
-		for(const auto& obj : vobj)
-			write_message(obj);
-	}
-
-	void socketcan_bcm_t::write_message(std::shared_ptr<can_message_t> m)
-	{
-		struct can_frame obj;
-		obj.can_id  = m->get_id();
-		obj.can_dlc = m->get_length();
-		::memcpy(obj.data, m->get_data(), CAN_MAX_DLEN);
-		if (::sendto(socket(), &obj, sizeof(&obj), 0, (const struct sockaddr*)&get_tx_address(), sizeof(get_tx_address())) < 0)
-			AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno));
-	}
-
-	void socketcan_bcm_t::write_message(struct bcm_msg& obj)
+	int socketcan_bcm_t::write_message(message_t& m)
 	{
+		can_message_t&  cm = reinterpret_cast<can_message_t&>(m);
+		struct bcm_msg obj = cm.get_bcm_msg();
 		size_t size = (obj.msg_head.flags & CAN_FD_FRAME) ?
-		(size_t)((char*)&obj.fd_frames[obj.msg_head.nframes] - (char*)&obj):
-		(size_t)((char*)&obj.frames[obj.msg_head.nframes] - (char*)&obj);
+			(size_t)((char*)&obj.fd_frames[obj.msg_head.nframes] - (char*)&obj):
+			(size_t)((char*)&obj.frames[obj.msg_head.nframes] - (char*)&obj);
 		if (::sendto(socket(), &obj, size, 0, (const struct sockaddr*)&get_tx_address(), sizeof(get_tx_address())) < 0)
-			AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno));
+		{
+			AFB_ERROR("Error sending : %i %s", errno, ::strerror(errno));
+			return -1;
+		}
+		return 0;
 	}
 }