diff options
Diffstat (limited to 'CAN-binder/low-can-binding/utils')
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socket.cpp | 85 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socket.hpp | 25 |
2 files changed, 90 insertions, 20 deletions
diff --git a/CAN-binder/low-can-binding/utils/socket.cpp b/CAN-binder/low-can-binding/utils/socket.cpp index ee64348a..e166b8c9 100644 --- a/CAN-binder/low-can-binding/utils/socket.cpp +++ b/CAN-binder/low-can-binding/utils/socket.cpp @@ -16,24 +16,31 @@ */ #include <unistd.h> +#include <string> +#include <string.h> +#include <linux/can/raw.h> +#include <net/if.h> +#include <sys/ioctl.h> + #include "socket.hpp" +#include "low-can-binding.hpp" namespace utils { /// @brief Construct a default, invalid, socket. - socket_t::socket_t() + socketcan_t::socketcan_t() : socket_{INVALID_SOCKET} {} /// @brief Construct a socket by moving an existing one. - socket_t::socket_t(socket_t&& s) + socketcan_t::socketcan_t(socketcan_t&& s) : socket_{s.socket_} { s.socket_ = INVALID_SOCKET; } /// @brief Destruct the socket. - socket_t::~socket_t() + socketcan_t::~socketcan_t() { if(socket_ != INVALID_SOCKET) ::close(socket_); @@ -41,7 +48,7 @@ namespace utils /// @brief Test if socket is valid. /// @return true if valid, false otherwise. - socket_t::operator bool() const + socketcan_t::operator bool() const { return socket_ != INVALID_SOCKET; } @@ -51,7 +58,7 @@ namespace utils /// @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 socket_t::open(int domain, int type, int protocol) + int socketcan_t::open(int domain, int type, int protocol) { close(); socket_ = ::socket(domain, type, protocol); @@ -60,29 +67,89 @@ namespace utils /// @brief Close the socket. /// @return 0 if success. - int socket_t::close() + int socketcan_t::close() { return socket_ != INVALID_SOCKET ? ::close(socket_) : 0; } /// @brief Set socket option. /// @return 0 if success. - int socket_t::setopt(int level, int optname, const void* optval, socklen_t optlen) + 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 socket_t::bind(const struct sockaddr* addr, socklen_t len) + 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 socket_t::socket() const + 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, bool bcm) { + close(); + + struct ifreq ifr; + if(bcm) + socket_ = ::socket(PF_CAN, SOCK_DGRAM, CAN_BCM); + else + socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW); + + // Attempts to open a socket to CAN bus + ::strcpy(ifr.ifr_name, device_name.c_str()); + DEBUG(binder_interface, "open: ifr_name is : %s", ifr.ifr_name); + if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0) + { + ERROR(binder_interface, "open: ioctl failed. Error was : %s", strerror(errno)); + close(); + } + else + { + txAddress_.can_family = AF_CAN; + txAddress_.can_ifindex = ifr.ifr_ifindex; + + if(bcm && connect((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) + { + ERROR(binder_interface, "Connect failed. %s", strerror(errno)); + close(); + } + // It's a RAW socket request, bind it to txAddress + else if(bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) + { + ERROR(binder_interface, "Bind failed. %s", strerror(errno)); + close(); + } + } return socket_; } + + /// @brief Send a CAN message through the socket. + /// + /// @param[in] f - the CAN FD frame to send + /// + /// @return number of sent bytes if message sent, 0 on invalid socket and -1 if something wrong. + ssize_t socketcan_t::send(const struct canfd_frame& f) + { + return socket_ != INVALID_SOCKET ? ::sendto(socket_, &f, sizeof(struct canfd_frame), 0, + (struct sockaddr*)&txAddress_, sizeof(txAddress_)) : 0; + } } diff --git a/CAN-binder/low-can-binding/utils/socket.hpp b/CAN-binder/low-can-binding/utils/socket.hpp index b42eee6a..2da2dfe5 100644 --- a/CAN-binder/low-can-binding/utils/socket.hpp +++ b/CAN-binder/low-can-binding/utils/socket.hpp @@ -23,24 +23,27 @@ namespace utils { - class socket_t + class socketcan_t { public: - socket_t(); - socket_t(const socket_t&) = delete; - socket_t(socket_t&&); - ~socket_t(); + socketcan_t(); + socketcan_t(const socketcan_t&) = delete; + socketcan_t(socketcan_t&&); + ~socketcan_t(); explicit operator bool() const; - int open(int domain, int type, int protocol); - int close(); - int setopt(int level, int optname, const void* optval, socklen_t optlen); int socket() const; - int bind(const struct sockaddr* addr, socklen_t len); - + int open(std::string device_name, bool bcm=false); + int setopt(int level, int optname, const void* optval, socklen_t optlen); + ssize_t send(const struct canfd_frame& f); + int close(); private: int socket_; + struct sockaddr_can txAddress_; /// < internal member using to bind to the socket + + 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); }; } - |