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.
20 #include <linux/can/raw.h>
22 #include <sys/ioctl.h>
24 #include "socketcan.hpp"
25 #include "can-message.hpp"
30 /// @brief Construct a default, invalid, socket.
31 socketcan_t::socketcan_t()
32 : socket_{INVALID_SOCKET}
35 /// @brief Construct a socket by moving an existing one.
36 socketcan_t::socketcan_t(socketcan_t&& s)
39 s.socket_ = INVALID_SOCKET;
42 /// @brief Destruct the socket.
43 socketcan_t::~socketcan_t()
45 if(socket_ != INVALID_SOCKET)
49 const struct sockaddr_can& socketcan_t::get_tx_address() const
54 /// @brief Test if socket is valid.
55 /// @return true if valid, false otherwise.
56 socketcan_t::operator bool() const
58 return socket_ != INVALID_SOCKET;
61 /// @brief Open the socket.
62 /// @param[in] domain Specifies the communications domain in which a socket is to be created.
63 /// @param[in] type Specifies the type of socket to be created.
64 /// @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.
65 /// @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.
66 int socketcan_t::open(int domain, int type, int protocol)
69 socket_ = ::socket(domain, type, protocol);
73 /// @brief Close the socket.
74 /// @return 0 if success.
75 int socketcan_t::close()
77 return socket_ != INVALID_SOCKET ? ::close(socket_) : 0;
80 /// @brief Set socket option.
81 /// @return 0 if success.
82 int socketcan_t::setopt(int level, int optname, const void* optval, socklen_t optlen)
84 return socket_ != INVALID_SOCKET ? ::setsockopt(socket_, level, optname, optval, optlen) : 0;
87 /// @brief Bind the socket.
88 /// @return 0 if success.
89 int socketcan_t::bind(const struct sockaddr* addr, socklen_t len)
91 return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
94 /// @brief Connect the socket.
95 /// @return 0 if success.
96 int socketcan_t::connect(const struct sockaddr* addr, socklen_t len)
98 return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
101 /// @brief Get the file descriptor.
102 /// @return The socket's file descriptor
103 int socketcan_t::socket() const
108 /// @brief Open a raw socket CAN.
109 /// @param[in] device_name is the kernel network device name of the CAN interface.
111 /// @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.
112 int socketcan_t::open(std::string device_name)
117 socket_ = ::socket(PF_CAN, SOCK_DGRAM, CAN_BCM);
119 // Attempts to open a socket to CAN bus
120 ::strcpy(ifr.ifr_name, device_name.c_str());
121 DEBUG(binder_interface, "%s: ifr_name is : %s", __FUNCTION__, ifr.ifr_name);
122 if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
124 ERROR(binder_interface, "%s: ioctl failed. Error was : %s", __FUNCTION__, strerror(errno));
129 tx_address_.can_family = AF_CAN;
130 tx_address_.can_ifindex = ifr.ifr_ifindex;
132 if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
134 ERROR(binder_interface, "%s: Connect failed. %s", __FUNCTION__, strerror(errno));
141 socketcan_t& operator>>(socketcan_t& s, can_message_t& cm)
144 struct bcm_msg_head msg_head;
145 struct can_frame frames;
148 struct sockaddr_can addr = s.get_tx_address();
149 socklen_t addrlen = sizeof(addr);
152 ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
153 ifr.ifr_ifindex = addr.can_ifindex;
154 ioctl(s.socket(), SIOCGIFNAME, &ifr);
156 printf("Data available: %i bytes read\n", (int)nbytes);
157 printf("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X\n", ifr.ifr_name, msg.msg_head.can_id, msg.frames.len,
158 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]);
164 socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<struct can_frame>& obj)
171 socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj)