2 * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
4 * Author "Loïc Collignon" <loic.collignon@iot.bzh>
5 * Licensed under the Apache License, Version 2.0 (the "License");
6 * you may not use this file except in compliance with the License.
7 * You may obtain a copy of the License at
9 * http://www.apache.org/licenses/LICENSE-2.0
11 * Unless required by applicable law or agreed to in writing, software
12 * distributed under the License is distributed on an "AS IS" BASIS,
13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 * See the License for the specific language governing permissions and
15 * limitations under the License.
18 #include "socketcan-bcm.hpp"
21 #include <sys/ioctl.h>
26 /// @brief Connect the socket.
27 /// @return 0 if success.
28 int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len)
30 return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
33 /// @brief Open a raw socket CAN.
34 /// @param[in] device_name is the kernel network device name of the CAN interface.
36 /// @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.
37 int socketcan_bcm_t::open(std::string device_name)
42 socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_BCM);
44 // Attempts to open a socket to CAN bus
45 ::strcpy(ifr.ifr_name, device_name.c_str());
46 DEBUG(binder_interface, "%s: BCM socket ifr_name is : %s", __FUNCTION__, ifr.ifr_name);
47 if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
49 ERROR(binder_interface, "%s: ioctl failed. Error was : %s", __FUNCTION__, strerror(errno));
54 tx_address_.can_family = AF_CAN;
55 tx_address_.can_ifindex = ifr.ifr_ifindex;
57 if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
59 ERROR(binder_interface, "%s: Connect failed. %s", __FUNCTION__, strerror(errno));
62 // Needed because of using systemD event loop. See sd_event_add_io manual.
63 fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK);
68 socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
71 struct bcm_msg_head msg_head;
72 struct can_frame frames;
75 const struct sockaddr_can& addr = s.get_tx_address();
76 socklen_t addrlen = sizeof(addr);
79 ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
80 ifr.ifr_ifindex = addr.can_ifindex;
81 ioctl(s.socket(), SIOCGIFNAME, &ifr);
83 DEBUG(binder_interface, "Data available: %i bytes read", (int)nbytes);
84 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,
85 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]);
88 ioctl(s.socket(), SIOCGSTAMP, &tv);
89 uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
90 cm = ::can_message_t::convert_from_frame(msg.frames ,
91 nbytes-sizeof(struct bcm_msg_head),
93 cm.set_sub_id((int)s.socket());