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.
22 #include <sys/socket.h>
23 #include <linux/can/bcm.h>
26 #include "../can/can-message.hpp"
27 #include "low-can-binding.hpp"
29 #define INVALID_SOCKET -1
30 #define U64_DATA(p) (*(unsigned long long*)(p)->data)
37 struct bcm_msg_head msg_head;
38 std::vector<T> frames;
41 struct canfd_bcm_msg : public basic_bcm_msg<canfd_frame>
43 canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
50 socketcan_t(const socketcan_t&) = delete;
51 socketcan_t(socketcan_t&&);
54 const struct sockaddr_can& get_tx_address() const;
55 explicit operator bool() const;
58 int open(std::string device_name);
59 int setopt(int level, int optname, const void* optval, socklen_t optlen);
64 struct sockaddr_can tx_address_;
66 int open(int domain, int type, int protocol);
67 int bind(const struct sockaddr* addr, socklen_t len);
68 int connect(const struct sockaddr* addr, socklen_t len);
72 socketcan_t& operator<<(socketcan_t& s, const std::vector<T>& vobj)
74 for(const auto& obj : vobj)
78 socketcan_t& operator<<(socketcan_t& s, const struct basic_bcm_msg<can_frame>& obj);
79 socketcan_t& operator<<(socketcan_t& s, const struct canfd_bcm_msg& obj);
81 socketcan_t& operator>>(socketcan_t& s, can_message_t& cm);