#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 <vector> #include <sys/socket.h> #include <linux/can/bcm.h> #include <string.h> #include "../can/can-message.hpp" #include "low-can-binding.hpp" #define INVALID_SOCKET -1 #define U64_DATA(p) (*(unsigned long long*)(p)->data) namespace utils { template <typename T> struct basic_bcm_msg { struct 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 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, can_message_t& cm); }