#pragma once /* * Copyright (C) 2015, 2016 , 2017, 2018, 2019 "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 <linux/sockios.h> #include <string.h> #include "../binding/low-can-hat.hpp" #include "../can/message/can-message.hpp" #define INVALID_SOCKET -1 #define NO_CAN_ID 0xFFFFFFFFU /** * @enum socket_type * @brief The type of socket */ enum class socket_type { BCM, ///< BCM - Socket BCM J1939_ADDR_CLAIM, ///< J1939 - Socket J1939 J1939, ///< J1939 - Socket J1939 INVALID }; namespace utils { class socketcan_t { public: socketcan_t(); socketcan_t(const socketcan_t& s) = delete; socketcan_t(socketcan_t&&); socketcan_t& operator=(const socketcan_t& s); virtual ~socketcan_t(); const struct sockaddr_can& get_tx_address() const; explicit operator bool() const; int socket() const; virtual int open(std::string device_name) = 0; int setopt(int level, int optname, const void* optval, socklen_t optlen); virtual int close(); virtual std::shared_ptr<message_t> read_message() = 0; virtual int write_message(message_t& obj) = 0; virtual int write_message(std::vector<message_t>& vobj); 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); }; }