diff options
Diffstat (limited to 'CAN-binder/low-can-binding/utils')
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socketcan-bcm.cpp | 73 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socketcan-bcm.hpp | 52 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socketcan-raw.cpp | 73 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socketcan-raw.hpp | 36 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socketcan.cpp | 33 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/utils/socketcan.hpp | 24 |
6 files changed, 237 insertions, 54 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_; + } +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp new file mode 100644 index 00000000..63c728ca --- /dev/null +++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.hpp @@ -0,0 +1,52 @@ +/* + * 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. + */ + +#pragma once + +#include "socketcan.hpp" + +namespace utils +{ + struct simple_bcm_msg + { + struct bcm_msg_head msg_head; + struct can_frame frames; + }; + + struct canfd_bcm_msg + { + struct bcm_msg_head msg_head; + struct canfd_frame frames; + canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; } + }; + + class socketcan_bcm_t : public socketcan_t + { + public: + socketcan_bcm_t(); + socketcan_bcm_t(const socketcan_bcm_t&) = delete; + socketcan_bcm_t(socketcan_bcm_t&&); + virtual ~socketcan_bcm_t(); + + virtual int open(std::string device_name); + + private: + int connect(const struct sockaddr* addr, socklen_t len); + }; +// socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct simple_bcm_msg& obj); +// socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct canfd_bcm_msg& obj); +} diff --git a/CAN-binder/low-can-binding/utils/socketcan-raw.cpp b/CAN-binder/low-can-binding/utils/socketcan-raw.cpp new file mode 100644 index 00000000..2c2b54e1 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/socketcan-raw.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-raw.hpp" + +namespace utils +{ + /// @brief Construct a default, invalid, socket. + socketcan_raw_t::socketcan_raw_t() + : socketcan_t{}, socket_{INVALID_SOCKET} + {} + + /// @brief Construct a socket by moving an existing one. + socketcan_raw_t::socketcan_raw_t(socketcan_raw_t&& s) + : socket_{s.socket_} + { + s.socket_ = INVALID_SOCKET; + } + + /// @brief Destruct the socket. + socketcan_raw_t::~socketcan_raw_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_raw_t::open(std::string device_name) + { + close(); + + struct ifreq ifr; + socket_ = open(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, "%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(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0) + { + ERROR(binder_interface, "%s: Bind failed. %s", __FUNCTION__, strerror(errno)); + close(); + } + } + return socket_; + } +}
\ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/socketcan-raw.hpp b/CAN-binder/low-can-binding/utils/socketcan-raw.hpp new file mode 100644 index 00000000..3c91029f --- /dev/null +++ b/CAN-binder/low-can-binding/utils/socketcan-raw.hpp @@ -0,0 +1,36 @@ +/* + * 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. + */ +#pragma once + +#include "socketcan.hpp" + +namespace utils +{ + class socketcan_raw_t : public socketcan_t + { + public: + socketcan_raw_t(); + socketcan_raw_t(const socketcan_raw_t&) = delete; + socketcan_raw_t(socketcan_raw_t&&); + virtual ~socketcan_raw_t(); + + virtual int open(std::string device_name); + + private: + int bind(const struct sockaddr* addr, socklen_t len); + }; +} diff --git a/CAN-binder/low-can-binding/utils/socketcan.cpp b/CAN-binder/low-can-binding/utils/socketcan.cpp index 0f2e01fd..5a711c34 100644 --- a/CAN-binder/low-can-binding/utils/socketcan.cpp +++ b/CAN-binder/low-can-binding/utils/socketcan.cpp @@ -104,39 +104,6 @@ namespace utils 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_ = 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_; - } - socketcan_t& operator>>(socketcan_t& s, can_message_t& cm) { struct { diff --git a/CAN-binder/low-can-binding/utils/socketcan.hpp b/CAN-binder/low-can-binding/utils/socketcan.hpp index 8a71d3a8..391fb460 100644 --- a/CAN-binder/low-can-binding/utils/socketcan.hpp +++ b/CAN-binder/low-can-binding/utils/socketcan.hpp @@ -30,42 +30,27 @@ namespace utils { - struct simple_bcm_msg - { - struct bcm_msg_head msg_head; - struct can_frame frames; - }; - - struct canfd_bcm_msg - { - struct bcm_msg_head msg_head; - struct canfd_frame frames; - 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(); + virtual ~socketcan_t(); const struct sockaddr_can& get_tx_address() const; explicit operator bool() const; int socket() const; - int open(std::string device_name); + virtual int open(std::string device_name) = 0; int setopt(int level, int optname, const void* optval, socklen_t optlen); int close(); - private: + protected: 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> @@ -83,9 +68,6 @@ namespace utils ERROR(binder_interface, "%s: Error sending : %i %s", __FUNCTION__, errno, ::strerror(errno)); return s; } - - socketcan_t& operator<<(socketcan_t& s, const struct simple_bcm_msg& obj); - socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj); socketcan_t& operator>>(socketcan_t& s, can_message_t& cm); } |