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>
25 /// @brief Connect the socket.
26 /// @return 0 if success.
27 int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len)
29 return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
32 /// @brief Open a raw socket CAN.
33 /// @param[in] device_name is the kernel network device name of the CAN interface.
35 /// @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.
36 int socketcan_bcm_t::open(std::string device_name)
41 socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_BCM);
43 // Attempts to open a socket to CAN bus
44 ::strcpy(ifr.ifr_name, device_name.c_str());
45 DEBUG(binder_interface, "%s: BCM socket ifr_name is : %s", __FUNCTION__, ifr.ifr_name);
46 if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
48 ERROR(binder_interface, "%s: ioctl failed. Error was : %s", __FUNCTION__, strerror(errno));
53 tx_address_.can_family = AF_CAN;
54 tx_address_.can_ifindex = ifr.ifr_ifindex;
56 if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
58 ERROR(binder_interface, "%s: Connect failed. %s", __FUNCTION__, strerror(errno));
65 socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
68 struct bcm_msg_head msg_head;
69 struct can_frame frames;
72 const struct sockaddr_can& addr = s.get_tx_address();
73 socklen_t addrlen = sizeof(addr);
76 ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
77 ifr.ifr_ifindex = addr.can_ifindex;
78 ioctl(s.socket(), SIOCGIFNAME, &ifr);
80 DEBUG(binder_interface, "Data available: %i bytes read", (int)nbytes);
81 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,
82 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]);
84 cm = ::can_message_t::convert_from_frame(msg.frames , nbytes-sizeof(struct bcm_msg_head));