diff options
Diffstat (limited to 'CAN-binder/low-can-binding/utils/socketcan-bcm.cpp')
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socketcan-bcm.cpp | 96 |
1 files changed, 96 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 new file mode 100644 index 00000000..38f48522 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp @@ -0,0 +1,96 @@ +/* + * 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" + +#include <net/if.h> +#include <sys/ioctl.h> +#include <fcntl.h> + +namespace utils +{ + /// @brief Connect the socket. + /// @return 0 if success. + int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len) + { + return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0; + } + + /// @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_ = socketcan_t::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: BCM socket 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(); + } + // Needed because of using systemD event loop. See sd_event_add_io manual. + fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK); + } + return socket_; + } + + socketcan_bcm_t& operator>>(socketcan_bcm_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]); + + struct timeval tv; + ioctl(s.socket(), SIOCGSTAMP, &tv); + uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec; + cm = ::can_message_t::convert_from_frame(msg.frames , + nbytes-sizeof(struct bcm_msg_head), + timestamp); + + return s; + } +}
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