Separation Generator to a dedicated repo

Change-Id: Id94831651c3266861435272a6e36c7884bef2c45
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

1 files changed, 88 insertions, 0 deletions

diff --git a/low-can-binding/utils/socketcan-raw.cpp b/low-can-binding/utils/socketcan-raw.cpp
new file mode 100644
index 0000000..31965c3
--- /dev/null
+++ b/low-can-binding/utils/socketcan-raw.cpp
@@ -0,0 +1,88 @@
+/*
+ * 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-raw.hpp"
+
+#include <net/if.h>
+#include <sys/ioctl.h>
+
+namespace utils
+{
+	/// @brief Bind the socket.
+	/// @return 0 if success.
+	int socketcan_raw_t::bind(const struct sockaddr* addr, socklen_t len)
+	{
+		return socket_ != INVALID_SOCKET ? ::bind(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_raw_t::open(std::string device_name)
+	{
+		close();
+		
+		struct ifreq ifr;
+		socket_ = socketcan_t::open(PF_CAN, SOCK_RAW, CAN_RAW);
+
+		// Attempts to open a socket to CAN bus
+		::strcpy(ifr.ifr_name, device_name.c_str());
+		DEBUG("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(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
+			{
+				ERROR("Bind failed. %s", strerror(errno));
+				close();
+			}
+		}
+		return socket_;
+	}
+
+	socketcan_raw_t& operator>>(socketcan_raw_t& s, can_message_t& cm)
+	{
+		struct canfd_frame frame;
+
+		const struct sockaddr_can& addr = s.get_tx_address();
+		socklen_t addrlen = sizeof(addr);
+		struct ifreq ifr;
+
+		ssize_t nbytes = ::recvfrom(s.socket(), &frame, sizeof(frame), 0, (struct sockaddr*)&addr, &addrlen);
+		ifr.ifr_ifindex = addr.can_ifindex;
+		ioctl(s.socket(), SIOCGIFNAME, &ifr);
+
+		DEBUG("Data available: %i bytes read", (int)nbytes);
+		DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, frame.can_id, frame.len,
+			frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4], frame.data[5], frame.data[6], frame.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(frame , nbytes, timestamp);
+
+		return s;
+	}
+}
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