X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Futils%2Fsocketcan.hpp;h=17cec01930316d2c8b648789b2e777ae4bbbd042;hb=2e10ab5760e5d2a6abab7acf47f781442308362f;hp=82b797e0177826eb880f8c2faa31f433daf12c5d;hpb=32e25cbca210a359b09768537b6f443fe90a3070;p=apps%2Fagl-service-can-low-level.git

diff --git a/low-can-binding/utils/socketcan.hpp b/low-can-binding/utils/socketcan.hpp
index 82b797e0..17cec019 100644
--- a/low-can-binding/utils/socketcan.hpp
+++ b/low-can-binding/utils/socketcan.hpp
@@ -1,7 +1,7 @@
 #pragma once
 
 /*
- * 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");
@@ -21,14 +21,18 @@
 
 #include <sys/socket.h>
 #include <linux/can/bcm.h>
+#include <linux/sockios.h>
 #include <string.h>
 
 #include "../binding/low-can-hat.hpp"
+#include "../can/message/can-message.hpp"
 
 #define INVALID_SOCKET -1
+#define NO_CAN_ID 0xFFFFFFFFU
 
 namespace utils
 {
+
 	class socketcan_t
 	{
 	public:
@@ -44,28 +48,16 @@ namespace utils
 		int socket() const;
 		virtual int open(std::string device_name) = 0;
 		int setopt(int level, int optname, const void* optval, socklen_t optlen);
-		int close();
+		virtual int close();
+		virtual std::shared_ptr<message_t> read_message() = 0;
+		virtual int write_message(message_t& obj) = 0;
+		virtual int write_message(std::vector<message_t>& vobj);
 
 	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>
-	socketcan_t& operator<<(socketcan_t& s, const std::vector<T>& vobj)
-	{
-		for(const auto& obj : vobj)
-			s << obj;
-		return s;
-	}
-
-	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("Error sending : %i %s", errno, ::strerror(errno));
-		return s;
-	}
 }