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-rw-r--r--CAN-binder/low-can-binding/utils/socketcan-bcm.cpp73
1 files changed, 73 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
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+/*
+ * 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 "socketcan-bcm.hpp"
+
+namespace utils
+{
+ /// @brief Construct a default, invalid, socket.
+ socketcan_bcm_t::socketcan_bcm_t()
+ : socketcan_t{}
+ {}
+
+ /// @brief Construct a socket by moving an existing one.
+ socketcan_bcm_t::socketcan_bcm_t(socketcan_bcm_t&& s)
+ : socket_{s.socket_}
+ {
+ s.socket_ = INVALID_SOCKET;
+ }
+
+ /// @brief Destruct the socket.
+ socketcan_bcm_t::~socketcan_bcm_t()
+ {
+ if(socket_ != INVALID_SOCKET)
+ ::close(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_bcm_t::open(std::string device_name)
+ {
+ close();
+
+ struct ifreq ifr;
+ socket_ = open(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_;
+ }
+} \ No newline at end of file