separation of can_bus_t and can_bus_dev_t and use of the new socket class.

Change-Id: I5f292ab18737fa48259f357d660fed27fb8fb4be
Signed-off-by: Loïc Collignon <loic.collignon@iot.bzh>

1 files changed, 92 insertions, 0 deletions

diff --git a/src/can/can-bus-dev.cpp b/src/can/can-bus-dev.cpp
new file mode 100644
index 0000000..5166550
--- /dev/null
+++ b/src/can/can-bus-dev.cpp
@@ -0,0 +1,92 @@
+/*
+ * 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 <string.h>
+#include <linux/can/raw.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+
+#include "can-bus-dev.hpp"
+#include "low-can-binding.hpp"
+
+/// @brief Class constructor 
+/// @param dev_name String representing the device name into the linux /dev tree
+can_bus_dev_t::can_bus_dev_t(const std::string& dev_name)
+	: device_name_{dev_name}
+{
+}
+
+/// @brief Open the can socket and returning it 
+/// @return -1 
+int can_bus_dev_t::open()
+{
+	const int canfd_on = 1;
+	const int timestamp_on = 1;
+	struct ifreq ifr;
+	struct timeval timeout;
+
+	DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_.socket());
+	if (can_socket_) return 0;
+
+	can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW);
+	if (can_socket_)
+	{
+		DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_.socket());
+		
+		// Set timeout for read
+		can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
+		
+		// Set timestamp for receveid frame
+		if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0)
+			WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
+		DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode");
+		
+		// try to switch the socket into CAN_FD mode
+		if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
+		{
+			NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
+			is_fdmode_on_ = false;
+		}
+		else
+		{
+			DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames.");
+			is_fdmode_on_ = true;
+		}
+
+		// Attempts to open a socket to CAN bus
+		::strcpy(ifr.ifr_name, device_name_.c_str());
+		DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
+		if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0)
+			ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
+		else
+		{
+			txAddress_.can_family = AF_CAN;
+			txAddress_.can_ifindex = ifr.ifr_ifindex;
+
+			// And bind it to txAddress
+			DEBUG(binder_interface, "Bind the socket");
+			if (::bind(can_socket_.socket(), (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
+				ERROR(binder_interface, "Bind failed. %s", strerror(errno));
+			else
+				return 0;
+		}
+		close();
+	}
+	else ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
+	return -1;
+}