Rename and handling write on socket using stream instead of specific method

Created special struct to handle bcm messages with can_frame and canfd_frame.
We can now just send both of them seamlessly.

Change-Id: Ia84e9cf2ab1dd0716cb09f6bb342a208e54f8e06
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

1 files changed, 176 insertions, 0 deletions

diff --git a/CAN-binder/low-can-binding/utils/socketcan.cpp b/CAN-binder/low-can-binding/utils/socketcan.cpp
new file mode 100644
index 00000000..17ce6ce7
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/socketcan.cpp
@@ -0,0 +1,176 @@
+/*
+ * 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 <string.h>
+#include <linux/can/raw.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+
+#include "socketcan.hpp"
+#include "low-can-binding.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, const struct bcm_msg_head& obj)
+	{
+		struct sockaddr_can addr = s.get_tx_address();
+		::sendto(s.socket(), &obj, sizeof(bcm_msg_head), 0, (struct sockaddr*)&addr, sizeof(addr));
+		return s;
+	}
+
+	socketcan_t& operator<<(socketcan_t& s, const struct canfd_frame& obj)
+	{
+		struct sockaddr_can addr = s.get_tx_address();
+		::sendto(s.socket(), &obj, sizeof(canfd_frame), 0, (struct sockaddr*)&addr, sizeof(addr));
+		return s;
+	}
+
+	socketcan_t& operator<<(socketcan_t& s, const struct can_frame& obj)
+	{
+		struct sockaddr_can addr = s.get_tx_address();
+		::sendto(s.socket(), &obj, sizeof(can_frame), 0, (struct sockaddr*)&addr, sizeof(addr));
+		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;
+	}
+}
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