aboutsummaryrefslogtreecommitdiffstats
path: root/CAN-binder/low-can-binding/utils/socketcan.hpp
blob: 391fb46070849943f3828d4cc65bd1a209fd6905 (plain)
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
#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

namespace utils
{
	class socketcan_t
	{
	public:
		socketcan_t();
		socketcan_t(const socketcan_t&) = delete;
		socketcan_t(socketcan_t&&);
		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);
		int close();

	protected:
		int socket_;
		struct sockaddr_can tx_address_;

		int open(int domain, int type, int protocol);
	};

	template <typename T>
	socketcan_t& operator<<(socketcan_t& s, const std::vector<T>& vobj)
	{
		for(const auto& obj : vobj)
			s << obj;
		return s;
	}

	template <typename T>
	socketcan_t& operator<<(socketcan_t& s, const T& obj)
	{
		if (::sendto(s.socket(), &obj, sizeof(obj), 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0)
			ERROR(binder_interface, "%s: Error sending : %i %s", __FUNCTION__, errno, ::strerror(errno));
		return s;
	}

	socketcan_t& operator>>(socketcan_t& s, can_message_t& cm);
}