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authorLoïc Collignon <loic.collignon@iot.bzh>2017-03-08 14:47:38 +0100
committerRomain Forlot <romain.forlot@iot.bzh>2017-03-16 17:10:39 +0100
commit9519e9d5b875b45fbf6f32267b728b1d11377276 (patch)
treefbd5c7b6c317c63920a77090676485a9e3612fc2 /src/can/can-bus-dev.cpp
parentb4d0643afdb3ad69298dac22e4b3380038f301af (diff)
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>
Diffstat (limited to 'src/can/can-bus-dev.cpp')
-rw-r--r--src/can/can-bus-dev.cpp92
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;
+}