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author | 2017-06-20 10:24:05 +0000 | |
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committer | 2017-06-20 10:24:05 +0000 | |
commit | 32e25cbca210a359b09768537b6f443fe90a3070 (patch) | |
tree | 3309794c15d8a8f8e9c1c08cad072ee1378813ba /CAN-binder/low-can-binding/utils/socketcan-bcm.cpp | |
parent | 76c43dec62b2e21cd6446360c00d4fe6b437533f (diff) |
Separation Generator to a dedicated repo
Change-Id: Id94831651c3266861435272a6e36c7884bef2c45
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
Diffstat (limited to 'CAN-binder/low-can-binding/utils/socketcan-bcm.cpp')
-rw-r--r-- | CAN-binder/low-can-binding/utils/socketcan-bcm.cpp | 101 |
1 files changed, 0 insertions, 101 deletions
diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp deleted file mode 100644 index e16b246..0000000 --- a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp +++ /dev/null @@ -1,101 +0,0 @@ -/* - * 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 "socketcan-bcm.hpp" - -#include <net/if.h> -#include <sys/ioctl.h> -#include <fcntl.h> - -#include "../binding/application.hpp" - -namespace utils -{ - /// @brief Connect the socket. - /// @return 0 if success. - int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len) - { - return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0; - } - - /// @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()); - DEBUG("BCM socket ifr_name is : %s", ifr.ifr_name); - if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0) - { - ERROR("ioctl failed. Error was : %s", 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("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. - socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm) - { - struct utils::simple_bcm_msg msg; - - ::memset(&msg, 0, sizeof(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); - long unsigned int frame_size = nbytes-sizeof(struct bcm_msg_head); - - 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); - DEBUG("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]); - - struct timeval tv; - ioctl(s.socket(), SIOCGSTAMP, &tv); - uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec; - cm = ::can_message_t::convert_from_frame(msg.frames , - frame_size, - timestamp); - cm.set_sub_id((int)s.socket()); - - return s; - } -}
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