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/*
* 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 <unistd.h>
#include <string>
#include <linux/can/raw.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include "socketcan.hpp"
#include "can-message.hpp"
namespace utils
{
/// @brief Construct a default, invalid, socket.
socketcan_t::socketcan_t()
: socket_{INVALID_SOCKET}
{}
/// @brief Construct a socket by moving an existing one.
socketcan_t::socketcan_t(socketcan_t&& s)
: socket_{s.socket_}
{
s.socket_ = INVALID_SOCKET;
}
/// @brief Destruct the socket.
socketcan_t::~socketcan_t()
{
if(socket_ != INVALID_SOCKET)
::close(socket_);
}
const struct sockaddr_can& socketcan_t::get_tx_address() const
{
return tx_address_;
}
/// @brief Test if socket is valid.
/// @return true if valid, false otherwise.
socketcan_t::operator bool() const
{
return socket_ != INVALID_SOCKET;
}
/// @brief Open the socket.
/// @param[in] domain Specifies the communications domain in which a socket is to be created.
/// @param[in] type Specifies the type of socket to be created.
/// @param[in] protocol Specifies a particular protocol to be used with the socket. Specifying a protocol of 0 causes socket() to use an unspecified default protocol appropriate for the requested socket type.
/// @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(int domain, int type, int protocol)
{
close();
socket_ = ::socket(domain, type, protocol);
return socket_;
}
/// @brief Close the socket.
/// @return 0 if success.
int socketcan_t::close()
{
return socket_ != INVALID_SOCKET ? ::close(socket_) : 0;
}
/// @brief Set socket option.
/// @return 0 if success.
int socketcan_t::setopt(int level, int optname, const void* optval, socklen_t optlen)
{
return socket_ != INVALID_SOCKET ? ::setsockopt(socket_, level, optname, optval, optlen) : 0;
}
/// @brief Bind the socket.
/// @return 0 if success.
int socketcan_t::bind(const struct sockaddr* addr, socklen_t len)
{
return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
}
/// @brief Connect the socket.
/// @return 0 if success.
int socketcan_t::connect(const struct sockaddr* addr, socklen_t len)
{
return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
}
/// @brief Get the file descriptor.
/// @return The socket's file descriptor
int socketcan_t::socket() const
{
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_ = ::socket(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 {
struct bcm_msg_head msg_head;
struct can_frame frames;
} msg;
const struct sockaddr_can& addr = s.get_tx_address();
socklen_t addrlen = sizeof(addr);
struct ifreq ifr;
ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
ifr.ifr_ifindex = addr.can_ifindex;
ioctl(s.socket(), SIOCGIFNAME, &ifr);
DEBUG(binder_interface, "Data available: %i bytes read", (int)nbytes);
DEBUG(binder_interface, "read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, msg.msg_head.can_id, msg.frames.can_dlc,
msg.frames.data[0], msg.frames.data[1], msg.frames.data[2], msg.frames.data[3], msg.frames.data[4], msg.frames.data[5], msg.frames.data[6], msg.frames.data[7]);
cm = ::can_message_t::convert_from_frame(msg.frames , nbytes-sizeof(struct bcm_msg_head));
return s;
}
socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<struct can_frame>& obj)
{
s << obj.msg_head;
s << obj.frames;
return s;
}
socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj)
{
s << obj.msg_head;
s << obj.frames;
return s;
}
}
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