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.
21 #include <linux/can/raw.h>
23 #include <sys/ioctl.h>
25 #include "socketcan.hpp"
26 #include "low-can-binding.hpp"
31 /// @brief Construct a default, invalid, socket.
32 socketcan_t::socketcan_t()
33 : socket_{INVALID_SOCKET}
36 /// @brief Construct a socket by moving an existing one.
37 socketcan_t::socketcan_t(socketcan_t&& s)
40 s.socket_ = INVALID_SOCKET;
43 /// @brief Destruct the socket.
44 socketcan_t::~socketcan_t()
46 if(socket_ != INVALID_SOCKET)
50 const struct sockaddr_can& socketcan_t::get_tx_address() const
55 /// @brief Test if socket is valid.
56 /// @return true if valid, false otherwise.
57 socketcan_t::operator bool() const
59 return socket_ != INVALID_SOCKET;
62 /// @brief Open the socket.
63 /// @param[in] domain Specifies the communications domain in which a socket is to be created.
64 /// @param[in] type Specifies the type of socket to be created.
65 /// @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.
66 /// @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.
67 int socketcan_t::open(int domain, int type, int protocol)
70 socket_ = ::socket(domain, type, protocol);
74 /// @brief Close the socket.
75 /// @return 0 if success.
76 int socketcan_t::close()
78 return socket_ != INVALID_SOCKET ? ::close(socket_) : 0;
81 /// @brief Set socket option.
82 /// @return 0 if success.
83 int socketcan_t::setopt(int level, int optname, const void* optval, socklen_t optlen)
85 return socket_ != INVALID_SOCKET ? ::setsockopt(socket_, level, optname, optval, optlen) : 0;
88 /// @brief Bind the socket.
89 /// @return 0 if success.
90 int socketcan_t::bind(const struct sockaddr* addr, socklen_t len)
92 return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
95 /// @brief Connect the socket.
96 /// @return 0 if success.
97 int socketcan_t::connect(const struct sockaddr* addr, socklen_t len)
99 return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
102 /// @brief Get the file descriptor.
103 /// @return The socket's file descriptor
104 int socketcan_t::socket() const
109 /// @brief Open a raw socket CAN.
110 /// @param[in] device_name is the kernel network device name of the CAN interface.
112 /// @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.
113 int socketcan_t::open(std::string device_name)
118 socket_ = ::socket(PF_CAN, SOCK_DGRAM, CAN_BCM);
120 // Attempts to open a socket to CAN bus
121 ::strcpy(ifr.ifr_name, device_name.c_str());
122 DEBUG(binder_interface, "%s: ifr_name is : %s", __FUNCTION__, ifr.ifr_name);
123 if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
125 ERROR(binder_interface, "%s: ioctl failed. Error was : %s", __FUNCTION__, strerror(errno));
130 tx_address_.can_family = AF_CAN;
131 tx_address_.can_ifindex = ifr.ifr_ifindex;
133 if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
135 ERROR(binder_interface, "%s: Connect failed. %s", __FUNCTION__, strerror(errno));
142 socketcan_t& operator<<(socketcan_t& s, const struct bcm_msg_head& obj)
144 struct sockaddr_can addr = s.get_tx_address();
145 ::sendto(s.socket(), &obj, sizeof(bcm_msg_head), 0, (struct sockaddr*)&addr, sizeof(addr));
149 socketcan_t& operator<<(socketcan_t& s, const struct canfd_frame& obj)
151 struct sockaddr_can addr = s.get_tx_address();
152 ::sendto(s.socket(), &obj, sizeof(canfd_frame), 0, (struct sockaddr*)&addr, sizeof(addr));
156 socketcan_t& operator<<(socketcan_t& s, const struct can_frame& obj)
158 struct sockaddr_can addr = s.get_tx_address();
159 ::sendto(s.socket(), &obj, sizeof(can_frame), 0, (struct sockaddr*)&addr, sizeof(addr));
163 socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<struct can_frame>& obj)
170 socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj)