X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Futils%2Fsocketcan-bcm.cpp;h=a58204345d744102653f5cfde13df81287c37ec3;hb=b6bc89e63ee24c4e5ec1559d7390da90201ff9cd;hp=3f3a0968bb1d9928a2ce05914454a638852feade;hpb=97a08a7e37835f0e8619d22c83243bee26a2bff2;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 3f3a0968..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.
@@ -44,79 +38,78 @@ 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.
-	socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
+	std::shared_ptr<message_t> socketcan_bcm_t::read_message()
 	{
-		struct utils::bcm_msg msg;
+		struct bcm_msg msg;
+		std::shared_ptr<can_message_t> cm = std::make_shared<can_message_t>();
 
-		const struct sockaddr_can& addr = s.get_tx_address();
+		const struct sockaddr_can& addr = 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);
+		ssize_t nbytes = ::recvfrom(socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
 		if(nbytes < 0)
 		{
-			AFB_ERROR("Can't read the next message from socket '%d'. '%s'", s.socket(), strerror(errno));
-			return s;
+			AFB_ERROR("Can't read the next message from socket '%d'. '%s'", socket(), strerror(errno));
+			return cm;
 		}
 		ifr.ifr_ifindex = addr.can_ifindex;
-		if(ioctl(s.socket(), SIOCGIFNAME, &ifr) < 0)
+		if(ioctl(socket(), SIOCGIFNAME, &ifr) < 0)
 		{
 			AFB_ERROR("Can't read the interface name. '%s'", strerror(errno));
-			return s;
+			return cm;
 		}
 		long unsigned int frame_size = nbytes-sizeof(struct bcm_msg_head);
 
 		AFB_DEBUG("Data available: %li bytes read. BCM head, opcode: %i, can_id: %i, nframes: %i", frame_size, msg.msg_head.opcode, msg.msg_head.can_id, msg.msg_head.nframes);
 
 		struct timeval tv;
-		ioctl(s.socket(), SIOCGSTAMP, &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.set_sub_id((int)s.socket());
+		cm->set_sub_id((int)socket());
 
-		return s;
+		return cm;
 	}
 
-	socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const std::vector<struct utils::bcm_msg>& vobj)
-	{
-		for(const auto& obj : vobj)
-			s << obj;
-		return s;
-	}
-
-	socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct utils::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);
-		if (::sendto(s.socket(), &obj, size, 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0)
-			AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno));
-		return s;
+			(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_ERROR("Error sending : %i %s", errno, ::strerror(errno));
+			return -1;
+		}
+		return 0;
 	}
 }