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Diffstat (limited to 'CAN-binder/low-can-binding/utils/socketcan.cpp')
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socketcan.cpp | 176 |
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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