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
|
#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 <linux/sockios.h>
#include <string.h>
#include "../binding/low-can-hat.hpp"
#include "../can/message/can-message.hpp"
#define INVALID_SOCKET -1
#define NO_CAN_ID 0xFFFFFFFFU
namespace utils
{
class socketcan_t
{
public:
socketcan_t();
socketcan_t(const socketcan_t& s) = delete;
socketcan_t(socketcan_t&&);
socketcan_t& operator=(const socketcan_t& s);
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);
virtual int close();
virtual std::shared_ptr<message_t> read_message() = 0;
virtual int write_message(message_t& obj) = 0;
virtual int write_message(std::vector<message_t>& vobj);
protected:
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);
};
}
|
