1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
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"
#include <net/if.h>
#include <sys/ioctl.h>
namespace utils
{
/// @brief Construct a default, invalid, socket.
socketcan_bcm_t::socketcan_bcm_t()
: socketcan_t{}
{}
/// @brief Destruct the socket.
socketcan_bcm_t::~socketcan_bcm_t()
{}
/// @brief Connect the socket.
/// @return 0 if success.
int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len)
{
return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
}
/// @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_ = socketcan_t::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_;
}
}
|
