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#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, const can_message_t& cm);
}
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