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
new file mode 100644
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--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/socketcan.hpp
@@ -0,0 +1,80 @@
+#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);
+}