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-rw-r--r--CAN-binder/low-can-binding/can/can-bus-dev.cpp57
-rw-r--r--CAN-binder/low-can-binding/can/can-bus-dev.hpp5
-rw-r--r--CAN-binder/low-can-binding/can/can-bus.cpp2
-rw-r--r--CAN-binder/low-can-binding/utils/socket.cpp85
-rw-r--r--CAN-binder/low-can-binding/utils/socket.hpp25
5 files changed, 109 insertions, 65 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
index fb76498..6fab8e9 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -19,9 +19,6 @@
#include <map>
#include <mutex>
#include <unistd.h>
-#include <string.h>
-#include <net/if.h>
-#include <sys/ioctl.h>
#include <linux/can/raw.h>
#include "can-bus-dev.hpp"
@@ -54,63 +51,42 @@ uint32_t can_bus_dev_t::get_address() const
/// timestamp received messages and pass the socket to FD mode.
///
/// @return -1 if something wrong.
-int can_bus_dev_t::open()
+int can_bus_dev_t::open_raw()
{
const int canfd_on = 1;
const int timestamp_on = 1;
- struct ifreq ifr;
struct timeval timeout;
- DEBUG(binder_interface, "open: CAN Handler socket : %d", can_socket_.socket());
- if (can_socket_)
- return 0;
+ DEBUG(binder_interface, "open_raw: CAN Handler socket : %d", can_socket_.socket());
+ can_socket_.open(device_name_);
- can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW);
+ // Set some option on the socket : timeout, timestamp and canfd frame usage.
if (can_socket_)
{
- DEBUG(binder_interface, "open: CAN Handler socket correctly initialized : %d", can_socket_.socket());
+ DEBUG(binder_interface, "open_raw: 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, "open: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
- DEBUG(binder_interface, "open: Switch CAN Handler socket to use fd mode");
+ WARNING(binder_interface, "open_raw: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
+ DEBUG(binder_interface, "open_raw: 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, "open: Can not switch into CAN Extended frame format.");
+ NOTICE(binder_interface, "open_raw: Can not switch into CAN Extended frame format.");
is_fdmode_on_ = false;
}
else
{
- DEBUG(binder_interface, "open: Correctly set up CAN socket to use FD frames.");
+ DEBUG(binder_interface, "open_raw: 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, "open: ifr_name is : %s", ifr.ifr_name);
- if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0)
- {
- ERROR(binder_interface, "open: 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 (can_socket_.bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
- ERROR(binder_interface, "Bind failed. %s", strerror(errno));
- else return 0;
- }
- close();
}
- else ERROR(binder_interface, "open: socket could not be created. Error was : %s", ::strerror(errno));
+ else
+ ERROR(binder_interface, "open_raw: socket could not be created. Error was : %s", ::strerror(errno));
return -1;
}
@@ -199,8 +175,7 @@ int can_bus_dev_t::send(can_message_t& can_msg)
if(can_socket_)
{
- nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
- (struct sockaddr*)&txAddress_, sizeof(txAddress_));
+ nbytes = can_socket_.send(f);
if (nbytes == -1)
{
ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
@@ -211,7 +186,8 @@ int can_bus_dev_t::send(can_message_t& can_msg)
else
{
ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
- open();
+ open_raw();
+ return -1;
}
return 0;
}
@@ -237,8 +213,7 @@ bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* dat
if(can_socket_)
{
- nbytes = ::sendto(can_socket_.socket(), &f, sizeof(struct canfd_frame), 0,
- (struct sockaddr*)&txAddress_, sizeof(txAddress_));
+ nbytes = can_socket_.send(f);
if (nbytes == -1)
{
ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
@@ -249,7 +224,7 @@ bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* dat
else
{
ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
- open();
+ open_raw();
}
return false;
}
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.hpp b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
index a612e7d..3e6b2d1 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
@@ -34,12 +34,11 @@ class can_bus_dev_t
{
private:
std::string device_name_; ///< a string identifier identitfying the linux CAN device.
- utils::socket_t can_socket_;
+ utils::socketcan_t can_socket_;
int32_t address_; ///< an identifier used through binding that refer to that device
bool is_fdmode_on_; ///< boolean telling if whether or not the can socket use fdmode.
- struct sockaddr_can txAddress_; /// < internal member using to bind to the socket
std::thread th_reading_; ///< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t
bool is_running_ = false; ///< boolean telling whether or not reading is running or not
@@ -51,7 +50,7 @@ public:
std::string get_device_name() const;
uint32_t get_address() const;
- int open();
+ int open_raw();
int close();
void start_reading(can_bus_t& can_bus);
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
index 61730a1..90d4c74 100644
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -237,7 +237,7 @@ int can_bus_t::init_can_dev()
for(const auto& device : devices_name)
{
can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
- if (can_bus_t::can_devices_[device]->open() == 0)
+ if (can_bus_t::can_devices_[device]->open_raw() == 0)
{
DEBUG(binder_interface, "Start reading thread");
NOTICE(binder_interface, "%s device opened and reading", device.c_str());
diff --git a/CAN-binder/low-can-binding/utils/socket.cpp b/CAN-binder/low-can-binding/utils/socket.cpp
index ee64348..e166b8c 100644
--- a/CAN-binder/low-can-binding/utils/socket.cpp
+++ b/CAN-binder/low-can-binding/utils/socket.cpp
@@ -16,24 +16,31 @@
*/
#include <unistd.h>
+#include <string>
+#include <string.h>
+#include <linux/can/raw.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+
#include "socket.hpp"
+#include "low-can-binding.hpp"
namespace utils
{
/// @brief Construct a default, invalid, socket.
- socket_t::socket_t()
+ socketcan_t::socketcan_t()
: socket_{INVALID_SOCKET}
{}
/// @brief Construct a socket by moving an existing one.
- socket_t::socket_t(socket_t&& s)
+ socketcan_t::socketcan_t(socketcan_t&& s)
: socket_{s.socket_}
{
s.socket_ = INVALID_SOCKET;
}
/// @brief Destruct the socket.
- socket_t::~socket_t()
+ socketcan_t::~socketcan_t()
{
if(socket_ != INVALID_SOCKET)
::close(socket_);
@@ -41,7 +48,7 @@ namespace utils
/// @brief Test if socket is valid.
/// @return true if valid, false otherwise.
- socket_t::operator bool() const
+ socketcan_t::operator bool() const
{
return socket_ != INVALID_SOCKET;
}
@@ -51,7 +58,7 @@ namespace utils
/// @param[in] type Specifies the type of socket to be created.
/// @param[in] protocol Specifies a particular protocol to be used with the socket. Specifying a protocol of 0 causes socket() to use an unspecified default protocol appropriate for the requested socket type.
/// @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 socket_t::open(int domain, int type, int protocol)
+ int socketcan_t::open(int domain, int type, int protocol)
{
close();
socket_ = ::socket(domain, type, protocol);
@@ -60,29 +67,89 @@ namespace utils
/// @brief Close the socket.
/// @return 0 if success.
- int socket_t::close()
+ int socketcan_t::close()
{
return socket_ != INVALID_SOCKET ? ::close(socket_) : 0;
}
/// @brief Set socket option.
/// @return 0 if success.
- int socket_t::setopt(int level, int optname, const void* optval, socklen_t optlen)
+ int socketcan_t::setopt(int level, int optname, const void* optval, socklen_t optlen)
{
return socket_ != INVALID_SOCKET ? ::setsockopt(socket_, level, optname, optval, optlen) : 0;
}
/// @brief Bind the socket.
/// @return 0 if success.
- int socket_t::bind(const struct sockaddr* addr, socklen_t len)
+ int socketcan_t::bind(const struct sockaddr* addr, socklen_t len)
{
return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
}
+ /// @brief Connect the socket.
+ /// @return 0 if success.
+ int socketcan_t::connect(const struct sockaddr* addr, socklen_t len)
+ {
+ return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
+ }
+
/// @brief Get the file descriptor.
/// @return The socket's file descriptor
- int socket_t::socket() const
+ int socketcan_t::socket() const
+ {
+ return socket_;
+ }
+
+ /// @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_t::open(std::string device_name, bool bcm)
{
+ close();
+
+ struct ifreq ifr;
+ if(bcm)
+ socket_ = ::socket(PF_CAN, SOCK_DGRAM, CAN_BCM);
+ else
+ socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
+
+ // Attempts to open a socket to CAN bus
+ ::strcpy(ifr.ifr_name, device_name.c_str());
+ DEBUG(binder_interface, "open: ifr_name is : %s", ifr.ifr_name);
+ if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
+ {
+ ERROR(binder_interface, "open: ioctl failed. Error was : %s", strerror(errno));
+ close();
+ }
+ else
+ {
+ txAddress_.can_family = AF_CAN;
+ txAddress_.can_ifindex = ifr.ifr_ifindex;
+
+ if(bcm && connect((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
+ {
+ ERROR(binder_interface, "Connect failed. %s", strerror(errno));
+ close();
+ }
+ // It's a RAW socket request, bind it to txAddress
+ else if(bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
+ {
+ ERROR(binder_interface, "Bind failed. %s", strerror(errno));
+ close();
+ }
+ }
return socket_;
}
+
+ /// @brief Send a CAN message through the socket.
+ ///
+ /// @param[in] f - the CAN FD frame to send
+ ///
+ /// @return number of sent bytes if message sent, 0 on invalid socket and -1 if something wrong.
+ ssize_t socketcan_t::send(const struct canfd_frame& f)
+ {
+ return socket_ != INVALID_SOCKET ? ::sendto(socket_, &f, sizeof(struct canfd_frame), 0,
+ (struct sockaddr*)&txAddress_, sizeof(txAddress_)) : 0;
+ }
}
diff --git a/CAN-binder/low-can-binding/utils/socket.hpp b/CAN-binder/low-can-binding/utils/socket.hpp
index b42eee6..2da2dfe 100644
--- a/CAN-binder/low-can-binding/utils/socket.hpp
+++ b/CAN-binder/low-can-binding/utils/socket.hpp
@@ -23,24 +23,27 @@
namespace utils
{
- class socket_t
+ class socketcan_t
{
public:
- socket_t();
- socket_t(const socket_t&) = delete;
- socket_t(socket_t&&);
- ~socket_t();
+ socketcan_t();
+ socketcan_t(const socketcan_t&) = delete;
+ socketcan_t(socketcan_t&&);
+ ~socketcan_t();
explicit operator bool() const;
- int open(int domain, int type, int protocol);
- int close();
- int setopt(int level, int optname, const void* optval, socklen_t optlen);
int socket() const;
- int bind(const struct sockaddr* addr, socklen_t len);
-
+ int open(std::string device_name, bool bcm=false);
+ int setopt(int level, int optname, const void* optval, socklen_t optlen);
+ ssize_t send(const struct canfd_frame& f);
+ int close();
private:
int socket_;
+ struct sockaddr_can txAddress_; /// < internal member using to bind to the socket
+
+ 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);
};
}
-