4 * Copyright (C) 2015, 2016 ,2017 "IoT.bzh"
5 * Author "Romain Forlot" <romain.forlot@iot.bzh>
6 * Author "Loïc Collignon" <loic.collignon@iot.bzh>
7 * Licensed under the Apache License, Version 2.0 (the "License");
8 * you may not use this file except in compliance with the License.
9 * You may obtain a copy of the License at
11 * http://www.apache.org/licenses/LICENSE-2.0
13 * Unless required by applicable law or agreed to in writing, software
14 * distributed under the License is distributed on an "AS IS" BASIS,
15 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
16 * See the License for the specific language governing permissions and
17 * limitations under the License.
20 #include <sys/socket.h>
21 #include <linux/can/bcm.h>
25 #define INVALID_SOCKET -1
33 bcm_msg_head msg_head;
34 std::vector<T> frames;
37 struct canfd_bcm_msg : public basic_bcm_msg<canfd_frame>
39 canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
46 socketcan_t(const socketcan_t&) = delete;
47 socketcan_t(socketcan_t&&);
50 const struct sockaddr_can& get_tx_address() const;
51 explicit operator bool() const;
54 int open(std::string device_name);
55 int setopt(int level, int optname, const void* optval, socklen_t optlen);
60 struct sockaddr_can tx_address_;
62 int open(int domain, int type, int protocol);
63 int bind(const struct sockaddr* addr, socklen_t len);
64 int connect(const struct sockaddr* addr, socklen_t len);
68 socketcan_t& operator<<(socketcan_t& s, const std::vector<T>& vobj)
70 for(const auto& obj : vobj)
75 socketcan_t& operator<<(socketcan_t& s, const canfd_frame& frame);
76 socketcan_t& operator<<(socketcan_t& s, const can_frame& frame);
77 socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<can_frame>& obj);
78 socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj);
79 socketcan_t& operator<<(socketcan_t& s, const struct bcm_msg_head& obj);