1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
|
/*
* 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 <linux/can/raw.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include "socketcan.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, 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]);
cm = ::can_message_t::convert_from_frame(msg.frames , nbytes-sizeof(struct bcm_msg_head));
return s;
}
}
|
