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Diffstat (limited to 'CAN-binder/low-can-binding/utils/socketcan-bcm.cpp')
-rw-r--r--CAN-binder/low-can-binding/utils/socketcan-bcm.cpp101
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;
- }
-} \ No newline at end of file