meta-agl - meta-agl layer (core AGL)

Age	Commit message (Expand)	Author	Files	Lines
2020-07-13	Point to new mailinglist at groups.io	Jan-Simon Moeller	1	-1/+1
2018-02-13	Integrate parts of meta-intel-iot-security	José Bollo	1	-0/+31

/* * Copyright (C) 2015, 2016 ,2017 "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"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ #include <unistd.h> #include <string> #include <linux/can/raw.h> #include <net/if.h> #include <sys/ioctl.h> #include "socketcan.hpp" #include "can-message.hpp" namespace utils { /// @brief Construct a default, invalid, socket. socketcan_t::socketcan_t() : socket_{INVALID_SOCKET} {} /// @brief Construct a socket by moving an existing one. socketcan_t::socketcan_t(socketcan_t&& s) : socket_{s.socket_} { s.socket_ = INVALID_SOCKET; } /// @brief Destruct the socket. socketcan_t::~socketcan_t() { if(socket_ != INVALID_SOCKET) ::close(socket_); } const struct sockaddr_can& socketcan_t::get_tx_address() const { return tx_address_; } /// @brief Test if socket is valid. /// @return true if valid, false otherwise. socketcan_t::operator bool() const { return socket_ != INVALID_SOCKET; } /// @brief Open the socket. /// @param[in] domain Specifies the communications domain in which a socket is to be created. /// @param[in] type Specifies the type of socket to be created. /// @param[in] protocol Specifies a particular protocol to be used with the socket. Specifying a protocol of 0 causes socket() to use an unspecified default protocol appropriate for the requested socket type. /// @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(int domain, int type, int protocol) { close(); socket_ = ::socket(domain, type, protocol); return socket_; } /// @brief Close the socket. /// @return 0 if success. int socketcan_t::close() { return socket_ != INVALID_SOCKET ? ::close(socket_) : 0; } /// @brief Set socket option. /// @return 0 if success. int socketcan_t::setopt(int level, int optname, const void* optval, socklen_t optlen) { 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 { 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, can_message_t& cm) { struct { struct bcm_msg_head msg_head; struct can_frame frames; } msg; const struct sockaddr_can& addr = s.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); ifr.ifr_ifindex = addr.can_ifindex; ioctl(s.socket(), SIOCGIFNAME, &ifr); 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]); cm = ::can_message_t::convert_from_frame(msg.frames , nbytes-sizeof(struct bcm_msg_head)); return s; } 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; } }