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 | 73 |
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 new file mode 100644 index 00000000..cab99067 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp @@ -0,0 +1,73 @@ +/* + * 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_; + } +}
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