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"
29 /// @brief Construct a default, invalid, socket.
30 socketcan_t::socketcan_t()
31 : socket_{INVALID_SOCKET}
34 /// @brief Construct a socket by copying an existing one.
35 socketcan_t::socketcan_t(const socketcan_t& s)
39 /// @brief Construct a socket by moving an existing one.
40 socketcan_t::socketcan_t(socketcan_t&& s)
43 s.socket_ = INVALID_SOCKET;
46 socketcan_t::~socketcan_t()
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 Get the file descriptor.
88 /// @return The socket's file descriptor
89 int socketcan_t::socket() const
94 socketcan_t& operator>>(socketcan_t& s, can_message_t& cm)
97 struct bcm_msg_head msg_head;
98 struct can_frame frames;
101 const struct sockaddr_can& addr = s.get_tx_address();
102 socklen_t addrlen = sizeof(addr);
105 ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
106 ifr.ifr_ifindex = addr.can_ifindex;
107 ioctl(s.socket(), SIOCGIFNAME, &ifr);
109 DEBUG(binder_interface, "Data available: %i bytes read", (int)nbytes);
110 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,
111 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]);
113 cm = ::can_message_t::convert_from_frame(msg.frames , nbytes-sizeof(struct bcm_msg_head));