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authorRomain Forlot <romain.forlot@iot.bzh>2017-04-24 19:09:28 +0200
committerRomain Forlot <romain.forlot@iot.bzh>2017-04-24 19:09:28 +0200
commit901a27b0631909647137f49ccf12f4e9bfe38817 (patch)
tree29f6ac7b6832c53e5b8ed472c8bcf29543382e03 /CAN-binder/low-can-binding/utils/socketcan.hpp
parent9e72f805168ae60919117c98dc1ab6c7441873ac (diff)
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>
Diffstat (limited to 'CAN-binder/low-can-binding/utils/socketcan.hpp')
-rw-r--r--CAN-binder/low-can-binding/utils/socketcan.hpp80
1 files changed, 80 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/utils/socketcan.hpp b/CAN-binder/low-can-binding/utils/socketcan.hpp
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+++ b/CAN-binder/low-can-binding/utils/socketcan.hpp
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+#pragma once
+
+/*
+ * 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 <sys/socket.h>
+#include <linux/can/bcm.h>
+
+#include <vector>
+
+#define INVALID_SOCKET -1
+
+namespace utils
+{
+
+ template <typename T>
+ struct basic_bcm_msg
+ {
+ bcm_msg_head msg_head;
+ std::vector<T> frames;
+ };
+
+ struct canfd_bcm_msg : public basic_bcm_msg<canfd_frame>
+ {
+ canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
+ };
+
+ class socketcan_t
+ {
+ public:
+ socketcan_t();
+ socketcan_t(const socketcan_t&) = delete;
+ socketcan_t(socketcan_t&&);
+ ~socketcan_t();
+
+ const struct sockaddr_can& get_tx_address() const;
+ explicit operator bool() const;
+
+ int socket() const;
+ int open(std::string device_name);
+ int setopt(int level, int optname, const void* optval, socklen_t optlen);
+ int close();
+
+ private:
+ 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;
+ }
+
+ socketcan_t& operator<<(socketcan_t& s, const canfd_frame& frame);
+ socketcan_t& operator<<(socketcan_t& s, const can_frame& frame);
+ socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<can_frame>& obj);
+ socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj);
+ socketcan_t& operator<<(socketcan_t& s, const struct bcm_msg_head& obj);
+}