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
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
|
/*
* 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 "socketcan-bcm.hpp"
#include <net/if.h>
#include <sys/ioctl.h>
#include <fcntl.h>
#include "../binding/application.hpp"
namespace utils
{
/// @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());
AFB_DEBUG("BCM socket ifr_name is : %s", ifr.ifr_name);
if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
{
AFB_ERROR("ioctl failed. Error was : %s", strerror(errno));
close();
return -1;
}
else
{
tx_address_.can_family = AF_CAN;
tx_address_.can_ifindex = ifr.ifr_ifindex;
if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
{
AFB_ERROR("Connect failed. %s", strerror(errno));
close();
}
// Needed because of using systemD event loop. See sd_event_add_io manual.
fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK);
}
return socket_;
}
/// Read the socket to retrieve the associated CAN message. All the hard work is do into
/// convert_from_frame method and if there isn't CAN message retrieve, only BCM head struct,
/// then CAN message will be zeroed and must be handled later.
std::shared_ptr<message_t> socketcan_bcm_t::read_message()
{
struct bcm_msg msg;
std::shared_ptr<can_message_t> cm = std::make_shared<can_message_t>();
const struct sockaddr_can& addr = get_tx_address();
socklen_t addrlen = sizeof(addr);
struct ifreq ifr;
ssize_t nbytes = ::recvfrom(socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
if(nbytes < 0)
{
AFB_ERROR("Can't read the next message from socket '%d'. '%s'", socket(), strerror(errno));
return cm;
}
ifr.ifr_ifindex = addr.can_ifindex;
if(ioctl(socket(), SIOCGIFNAME, &ifr) < 0)
{
AFB_ERROR("Can't read the interface name. '%s'", strerror(errno));
return cm;
}
long unsigned int frame_size = nbytes-sizeof(struct bcm_msg_head);
AFB_DEBUG("Data available: %li bytes read. BCM head, opcode: %i, can_id: %i, nframes: %i", frame_size, msg.msg_head.opcode, msg.msg_head.can_id, msg.msg_head.nframes);
struct timeval tv;
ioctl(socket(), SIOCGSTAMP, &tv);
uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp);
cm->set_sub_id((int)socket());
return cm;
}
int socketcan_bcm_t::write_message(message_t& m)
{
can_message_t& cm = reinterpret_cast<can_message_t&>(m);
struct bcm_msg obj = cm.get_bcm_msg();
size_t size = (obj.msg_head.flags & CAN_FD_FRAME) ?
(size_t)((char*)&obj.fd_frames[obj.msg_head.nframes] - (char*)&obj):
(size_t)((char*)&obj.frames[obj.msg_head.nframes] - (char*)&obj);
if (::sendto(socket(), &obj, size, 0, (const struct sockaddr*)&get_tx_address(), sizeof(get_tx_address())) < 0)
{
AFB_ERROR("Error sending : %i %s", errno, ::strerror(errno));
return -1;
}
return 0;
}
}
|
