2 * Copyright (C) 2015, 2016 , 2017, 2018, 2019 "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.
18 #include "socketcan-bcm.hpp"
21 #include <sys/ioctl.h>
24 #include "../binding/application.hpp"
29 /// @brief Open a raw socket CAN.
30 /// @param[in] device_name is the kernel network device name of the CAN interface.
32 /// @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.
33 int socketcan_bcm_t::open(std::string device_name)
38 socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_BCM);
40 // Attempts to open a socket to CAN bus
41 ::strcpy(ifr.ifr_name, device_name.c_str());
42 AFB_DEBUG("BCM socket ifr_name is : %s", ifr.ifr_name);
43 if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
45 AFB_ERROR("ioctl failed. Error was : %s", strerror(errno));
51 tx_address_.can_family = AF_CAN;
52 tx_address_.can_ifindex = ifr.ifr_ifindex;
54 if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
56 AFB_ERROR("Connect failed. %s", strerror(errno));
59 // Needed because of using systemD event loop. See sd_event_add_io manual.
60 fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK);
65 /// Read the socket to retrieve the associated CAN message. All the hard work is do into
66 /// convert_from_frame method and if there isn't CAN message retrieve, only BCM head struct,
67 /// then CAN message will be zeroed and must be handled later.
68 std::shared_ptr<message_t> socketcan_bcm_t::read_message()
71 std::shared_ptr<can_message_t> cm = std::make_shared<can_message_t>();
73 const struct sockaddr_can& addr = get_tx_address();
74 socklen_t addrlen = sizeof(addr);
77 ssize_t nbytes = ::recvfrom(socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
80 AFB_ERROR("Can't read the next message from socket '%d'. '%s'", socket(), strerror(errno));
83 ifr.ifr_ifindex = addr.can_ifindex;
84 if(ioctl(socket(), SIOCGIFNAME, &ifr) < 0)
86 AFB_ERROR("Can't read the interface name. '%s'", strerror(errno));
89 long unsigned int frame_size = nbytes-sizeof(struct bcm_msg_head);
91 AFB_DEBUG("Data available: %li bytes read. BCM head, opcode: %i, can_id: %i, nframes: %i", frame_size, msg.msg_head.opcode, msg.msg_head.can_id, msg.msg_head.nframes);
94 ioctl(socket(), SIOCGSTAMP, &tv);
95 uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
96 cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp);
97 cm->set_sub_id((int)socket());
102 int socketcan_bcm_t::write_message(message_t& m)
105 can_message_t& cm = reinterpret_cast<can_message_t&>(m);
106 struct bcm_msg obj = cm.get_bcm_msg();
107 size_t size = (obj.msg_head.flags & CAN_FD_FRAME) ?
108 (size_t)((char*)&obj.fd_frames[obj.msg_head.nframes] - (char*)&obj):
109 (size_t)((char*)&obj.frames[obj.msg_head.nframes] - (char*)&obj);
110 if (::sendto(socket(), &obj, size, 0, (const struct sockaddr*)&get_tx_address(), sizeof(get_tx_address())) < 0)
112 AFB_ERROR("Error sending : %i %s", errno, ::strerror(errno));