From 901a27b0631909647137f49ccf12f4e9bfe38817 Mon Sep 17 00:00:00 2001 From: Romain Forlot <romain.forlot@iot.bzh> Date: Mon, 24 Apr 2017 19:09:28 +0200 Subject: Rename and handling write on socket using stream instead of specific method Created special struct to handle bcm messages with can_frame and canfd_frame. We can now just send both of them seamlessly. Change-Id: Ia84e9cf2ab1dd0716cb09f6bb342a208e54f8e06 Signed-off-by: Romain Forlot <romain.forlot@iot.bzh> --- CAN-binder/low-can-binding/CMakeLists.txt | 2 +- CAN-binder/low-can-binding/can/can-bus-dev.cpp | 20 ++- CAN-binder/low-can-binding/utils/socket.cpp | 146 -------------------- CAN-binder/low-can-binding/utils/socket.hpp | 49 ------- CAN-binder/low-can-binding/utils/socketcan.cpp | 176 +++++++++++++++++++++++++ CAN-binder/low-can-binding/utils/socketcan.hpp | 80 +++++++++++ 6 files changed, 265 insertions(+), 208 deletions(-) delete mode 100644 CAN-binder/low-can-binding/utils/socket.cpp delete mode 100644 CAN-binder/low-can-binding/utils/socket.hpp create mode 100644 CAN-binder/low-can-binding/utils/socketcan.cpp create mode 100644 CAN-binder/low-can-binding/utils/socketcan.hpp diff --git a/CAN-binder/low-can-binding/CMakeLists.txt b/CAN-binder/low-can-binding/CMakeLists.txt index 84abfaf..a68ea2a 100644 --- a/CAN-binder/low-can-binding/CMakeLists.txt +++ b/CAN-binder/low-can-binding/CMakeLists.txt @@ -24,7 +24,7 @@ PROJECT_TARGET_ADD(low-can-binding) add_library(${TARGET_NAME} MODULE ${TARGET_NAME}.cpp configuration.cpp configuration-generated.cpp can/can-bus.cpp can/can-bus-dev.cpp can/can-message-set.cpp can/can-message-definition.cpp can/can-message.cpp can/can-signals.cpp can/can-decoder.cpp diagnostic/diagnostic-message.cpp diagnostic/diagnostic-manager.cpp diagnostic/active-diagnostic-request.cpp - utils/signals.cpp utils/openxc-utils.cpp utils/timer.cpp utils/socket.cpp utils/config-parser.cpp) + utils/signals.cpp utils/openxc-utils.cpp utils/timer.cpp utils/socketcan.cpp utils/config-parser.cpp) # Binder exposes a unique public entry point SET_TARGET_PROPERTIES(${TARGET_NAME} PROPERTIES 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 d097dc6..8470156 100644 --- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp +++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp @@ -151,24 +151,21 @@ void can_bus_dev_t::can_reader(can_bus_t& can_bus) /// @return 0 if message snet, -1 if something wrong. int can_bus_dev_t::send(can_message_t& can_msg) { - ssize_t nbytes; canfd_frame f; - f = can_msg.convert_to_canfd_frame(); if(can_socket_) { - nbytes = can_socket_.send(f); - if (nbytes == -1) + can_socket_ << f; + if(!can_socket_) { - ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); + ERROR(binder_interface, "%s: Sending CAN frame failed.", __FUNCTION__); return -1; } - return (int)nbytes; } else { - ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); + ERROR(binder_interface, "%s: socket not initialized. Attempt to reopen can device socket.", __FUNCTION__); open(); return -1; } @@ -187,7 +184,6 @@ int can_bus_dev_t::send(can_message_t& can_msg) /// @return True if message sent, false if not. bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size) { - ssize_t nbytes; canfd_frame f; f.can_id = arbitration_id; @@ -196,18 +192,18 @@ bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* dat if(can_socket_) { - nbytes = can_socket_.send(f); - if (nbytes == -1) + can_socket_ << f; + if (!can_socket_) { ERROR(binder_interface, "send_can_message: Sending CAN frame failed."); return false; } - return true; } else { ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); open(); + return false; } - return false; + return true; } diff --git a/CAN-binder/low-can-binding/utils/socket.cpp b/CAN-binder/low-can-binding/utils/socket.cpp deleted file mode 100644 index 9decaa8..0000000 --- a/CAN-binder/low-can-binding/utils/socket.cpp +++ /dev/null @@ -1,146 +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 <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. - socketcan_t::socketcan_t() - : socket_{INVALID_SOCKET} - {} - - /// @brief Construct a socket by moving an existing one. - socketcan_t::socketcan_t(socketcan_t&& s) - : socket_{s.socket_} - { - s.socket_ = INVALID_SOCKET; - } - - /// @brief Destruct the socket. - socketcan_t::~socketcan_t() - { - if(socket_ != INVALID_SOCKET) - ::close(socket_); - } - - /// @brief Test if socket is valid. - /// @return true if valid, false otherwise. - socketcan_t::operator bool() const - { - return socket_ != INVALID_SOCKET; - } - - /// @brief Open the socket. - /// @param[in] domain Specifies the communications domain in which a socket is to be created. - /// @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 socketcan_t::open(int domain, int type, int protocol) - { - close(); - socket_ = ::socket(domain, type, protocol); - return socket_; - } - - /// @brief Close the socket. - /// @return 0 if success. - int socketcan_t::close() - { - return socket_ != INVALID_SOCKET ? ::close(socket_) : 0; - } - - /// @brief Set socket option. - /// @return 0 if success. - 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 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 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) - { - close(); - - struct ifreq ifr; - socket_ = ::socket(PF_CAN, SOCK_DGRAM, CAN_BCM); - - // Attempts to open a socket to CAN bus - ::strcpy(ifr.ifr_name, device_name.c_str()); - DEBUG(binder_interface, "%s: ifr_name is : %s", __FUNCTION__, ifr.ifr_name); - if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0) - { - ERROR(binder_interface, "%s: ioctl failed. Error was : %s", __FUNCTION__, strerror(errno)); - close(); - } - else - { - txAddress_.can_family = AF_CAN; - txAddress_.can_ifindex = ifr.ifr_ifindex; - - if(connect((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) - { - ERROR(binder_interface, "%s: Connect failed. %s", __FUNCTION__, 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 deleted file mode 100644 index b981ad3..0000000 --- a/CAN-binder/low-can-binding/utils/socket.hpp +++ /dev/null @@ -1,49 +0,0 @@ -#pragma once - -/* - * 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 <sys/socket.h> - -#define INVALID_SOCKET -1 - -namespace utils -{ - class socketcan_t - { - public: - socketcan_t(); - socketcan_t(const socketcan_t&) = delete; - socketcan_t(socketcan_t&&); - ~socketcan_t(); - - explicit operator bool() const; - - int socket() const; - int open(std::string device_name); - 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); - }; -} diff --git a/CAN-binder/low-can-binding/utils/socketcan.cpp b/CAN-binder/low-can-binding/utils/socketcan.cpp new file mode 100644 index 0000000..17ce6ce --- /dev/null +++ b/CAN-binder/low-can-binding/utils/socketcan.cpp @@ -0,0 +1,176 @@ +/* + * 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 <unistd.h> +#include <string> +#include <string.h> +#include <linux/can/raw.h> +#include <net/if.h> +#include <sys/ioctl.h> + +#include "socketcan.hpp" +#include "low-can-binding.hpp" + +namespace utils +{ + + /// @brief Construct a default, invalid, socket. + socketcan_t::socketcan_t() + : socket_{INVALID_SOCKET} + {} + + /// @brief Construct a socket by moving an existing one. + socketcan_t::socketcan_t(socketcan_t&& s) + : socket_{s.socket_} + { + s.socket_ = INVALID_SOCKET; + } + + /// @brief Destruct the socket. + socketcan_t::~socketcan_t() + { + if(socket_ != INVALID_SOCKET) + ::close(socket_); + } + + const struct sockaddr_can& socketcan_t::get_tx_address() const + { + return tx_address_; + } + + /// @brief Test if socket is valid. + /// @return true if valid, false otherwise. + socketcan_t::operator bool() const + { + return socket_ != INVALID_SOCKET; + } + + /// @brief Open the socket. + /// @param[in] domain Specifies the communications domain in which a socket is to be created. + /// @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 socketcan_t::open(int domain, int type, int protocol) + { + close(); + socket_ = ::socket(domain, type, protocol); + return socket_; + } + + /// @brief Close the socket. + /// @return 0 if success. + int socketcan_t::close() + { + return socket_ != INVALID_SOCKET ? ::close(socket_) : 0; + } + + /// @brief Set socket option. + /// @return 0 if success. + 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 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 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) + { + close(); + + struct ifreq ifr; + socket_ = ::socket(PF_CAN, SOCK_DGRAM, CAN_BCM); + + // Attempts to open a socket to CAN bus + ::strcpy(ifr.ifr_name, device_name.c_str()); + DEBUG(binder_interface, "%s: ifr_name is : %s", __FUNCTION__, ifr.ifr_name); + if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0) + { + ERROR(binder_interface, "%s: ioctl failed. Error was : %s", __FUNCTION__, 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(binder_interface, "%s: Connect failed. %s", __FUNCTION__, strerror(errno)); + close(); + } + } + return socket_; + } + + socketcan_t& operator<<(socketcan_t& s, const struct bcm_msg_head& obj) + { + struct sockaddr_can addr = s.get_tx_address(); + ::sendto(s.socket(), &obj, sizeof(bcm_msg_head), 0, (struct sockaddr*)&addr, sizeof(addr)); + return s; + } + + socketcan_t& operator<<(socketcan_t& s, const struct canfd_frame& obj) + { + struct sockaddr_can addr = s.get_tx_address(); + ::sendto(s.socket(), &obj, sizeof(canfd_frame), 0, (struct sockaddr*)&addr, sizeof(addr)); + return s; + } + + socketcan_t& operator<<(socketcan_t& s, const struct can_frame& obj) + { + struct sockaddr_can addr = s.get_tx_address(); + ::sendto(s.socket(), &obj, sizeof(can_frame), 0, (struct sockaddr*)&addr, sizeof(addr)); + return s; + } + + socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<struct can_frame>& obj) + { + s << obj.msg_head; + s << obj.frames; + return s; + } + + socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj) + { + s << obj.msg_head; + s << obj.frames; + return s; + } +} \ No newline at end of file diff --git a/CAN-binder/low-can-binding/utils/socketcan.hpp b/CAN-binder/low-can-binding/utils/socketcan.hpp new file mode 100644 index 0000000..2c79036 --- /dev/null +++ b/CAN-binder/low-can-binding/utils/socketcan.hpp @@ -0,0 +1,80 @@ +#pragma once + +/* + * 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 <sys/socket.h> +#include <linux/can/bcm.h> + +#include <vector> + +#define INVALID_SOCKET -1 + +namespace utils +{ + + template <typename T> + struct basic_bcm_msg + { + bcm_msg_head msg_head; + std::vector<T> frames; + }; + + struct canfd_bcm_msg : public basic_bcm_msg<canfd_frame> + { + canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; } + }; + + class socketcan_t + { + public: + socketcan_t(); + socketcan_t(const socketcan_t&) = delete; + socketcan_t(socketcan_t&&); + ~socketcan_t(); + + const struct sockaddr_can& get_tx_address() const; + explicit operator bool() const; + + int socket() const; + int open(std::string device_name); + int setopt(int level, int optname, const void* optval, socklen_t optlen); + int close(); + + private: + int socket_; + struct sockaddr_can tx_address_; + + 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); + }; + + template <typename T> + socketcan_t& operator<<(socketcan_t& s, const std::vector<T>& vobj) + { + for(const auto& obj : vobj) + s << obj; + return s; + } + + socketcan_t& operator<<(socketcan_t& s, const canfd_frame& frame); + socketcan_t& operator<<(socketcan_t& s, const can_frame& frame); + socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<can_frame>& obj); + socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj); + socketcan_t& operator<<(socketcan_t& s, const struct bcm_msg_head& obj); +} -- cgit 1.2.3-korg