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);
 }