Specializing socket class to CAN socket operations.

Move all legacy opening RAW CAN socket operation to socket class. Each operations
on a CAN socket has to be simple and made by the socket class.
Simple BCM socket open operation is implemented.
Future will be to open specialized BCM CAN sockets on demand.

Change-Id: If285b97afb9871245ab1f13cd9f0401fbd9adf95
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

3 files changed, 19 insertions, 45 deletions

diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
index fb76498f..6fab8e9d 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -19,9 +19,6 @@
 #include <map>
 #include <mutex>
 #include <unistd.h>
-#include <string.h>
-#include <net/if.h>
-#include <sys/ioctl.h>
 #include <linux/can/raw.h>
 
 #include "can-bus-dev.hpp"
@@ -54,63 +51,42 @@ uint32_t can_bus_dev_t::get_address() const
 ///  timestamp received messages and pass the socket to FD mode.
 ///
 /// @return -1 if something wrong.
-int can_bus_dev_t::open()
+int can_bus_dev_t::open_raw()
 {
 	const int canfd_on = 1;
 	const int timestamp_on = 1;
-	struct ifreq ifr;
 	struct timeval timeout;
 
-	DEBUG(binder_interface, "open: CAN Handler socket : %d", can_socket_.socket());
-	if (can_socket_)
-		return 0;
+	DEBUG(binder_interface, "open_raw: CAN Handler socket : %d", can_socket_.socket());
+	can_socket_.open(device_name_);
 
-	can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW);
+	// Set some option on the socket : timeout, timestamp and canfd frame usage.
 	if (can_socket_)
 	{
-		DEBUG(binder_interface, "open: CAN Handler socket correctly initialized : %d", can_socket_.socket());
+		DEBUG(binder_interface, "open_raw: CAN Handler socket correctly initialized : %d", can_socket_.socket());
 
 		// Set timeout for read
 		can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
 
 		// Set timestamp for receveid frame
 		if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0)
-			WARNING(binder_interface, "open: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
-		DEBUG(binder_interface, "open: Switch CAN Handler socket to use fd mode");
+			WARNING(binder_interface, "open_raw: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
+		DEBUG(binder_interface, "open_raw: Switch CAN Handler socket to use fd mode");
 
 		// try to switch the socket into CAN_FD mode
 		if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
 		{
-			NOTICE(binder_interface, "open: Can not switch into CAN Extended frame format.");
+			NOTICE(binder_interface, "open_raw: Can not switch into CAN Extended frame format.");
 			is_fdmode_on_ = false;
 		}
 		else
 		{
-			DEBUG(binder_interface, "open: Correctly set up CAN socket to use FD frames.");
+			DEBUG(binder_interface, "open_raw: Correctly set up CAN socket to use FD frames.");
 			is_fdmode_on_ = true;
 		}
-
-		// Attempts to open a socket to CAN bus
-		::strcpy(ifr.ifr_name, device_name_.c_str());
-		DEBUG(binder_interface, "open: ifr_name is : %s", ifr.ifr_name);
-		if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0)
-		{
-			ERROR(binder_interface, "open: ioctl failed. Error was : %s", strerror(errno));
-		}
-		else
-		{
-			txAddress_.can_family = AF_CAN;
-			txAddress_.can_ifindex = ifr.ifr_ifindex;
-
-			// And bind it to txAddress
-			DEBUG(binder_interface, "Bind the socket");
-			if (can_socket_.bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
-				ERROR(binder_interface, "Bind failed. %s", strerror(errno));
-			else return 0;
-		}
-		close();
 	}
-	else ERROR(binder_interface, "open: socket could not be created. Error was : %s", ::strerror(errno));
+	else
+		ERROR(binder_interface, "open_raw: socket could not be created. Error was : %s", ::strerror(errno));
 	return -1;
 }
 
@@ -199,8 +175,7 @@ int can_bus_dev_t::send(can_message_t& can_msg)
 
 	if(can_socket_)
 	{
-		nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
-			(struct sockaddr*)&txAddress_, sizeof(txAddress_));
+		nbytes = can_socket_.send(f);
 		if (nbytes == -1)
 		{
 			ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
@@ -211,7 +186,8 @@ int can_bus_dev_t::send(can_message_t& can_msg)
 	else
 	{
 		ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
-		open();
+		open_raw();
+		return -1;
 	}
 	return 0;
 }
@@ -237,8 +213,7 @@ bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* dat
 
 	if(can_socket_)
 	{
-		nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
-			(struct sockaddr*)&txAddress_, sizeof(txAddress_));
+		nbytes = can_socket_.send(f);
 		if (nbytes == -1)
 		{
 			ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
@@ -249,7 +224,7 @@ bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* dat
 	else
 	{
 		ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
-		open();
+		open_raw();
 	}
 	return false;
 }
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.hpp b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
index a612e7d8..3e6b2d1c 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
@@ -34,12 +34,11 @@ class can_bus_dev_t
 {
 private:
 	std::string device_name_; ///< a string identifier identitfying the linux CAN device.
-	utils::socket_t can_socket_;
+	utils::socketcan_t can_socket_;
 
 	int32_t address_; ///< an identifier used through binding that refer to that device
 
 	bool is_fdmode_on_; ///< boolean telling if whether or not the can socket use fdmode.
-	struct sockaddr_can txAddress_; /// < internal member using to bind to the socket
 
 	std::thread th_reading_; ///< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t
 	bool is_running_ = false; ///< boolean telling whether or not reading is running or not
@@ -51,7 +50,7 @@ public:
 	std::string get_device_name() const;
 	uint32_t get_address() const;
 
-	int open();
+	int open_raw();
 	int close();
 
 	void start_reading(can_bus_t& can_bus);
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
index 61730a17..90d4c74f 100644
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -237,7 +237,7 @@ int can_bus_t::init_can_dev()
 			for(const auto& device : devices_name)
 			{
 				can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
-				if (can_bus_t::can_devices_[device]->open() == 0)
+				if (can_bus_t::can_devices_[device]->open_raw() == 0)
 				{
 					DEBUG(binder_interface, "Start reading thread");
 					NOTICE(binder_interface, "%s device opened and reading", device.c_str());