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/*
* 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>
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(binder_interface, "%s: BCM socket 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();
}
// Needed because of using systemD event loop. See sd_event_add_io manual.
fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK);
}
return socket_;
}
socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
{
struct {
struct bcm_msg_head msg_head;
struct can_frame frames;
} 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);
DEBUG(binder_interface, "Data available: %i bytes read", (int)nbytes);
DEBUG(binder_interface, "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 ,
nbytes-sizeof(struct bcm_msg_head),
timestamp);
return s;
}
}
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