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-raw.hpp"
21 #include <sys/ioctl.h>
26 /// @brief Open a raw socket CAN.
27 /// @param[in] device_name is the kernel network device name of the CAN interface.
29 /// @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.
30 int socketcan_raw_t::open(std::string device_name)
35 socket_ = socketcan_t::open(PF_CAN, SOCK_RAW, CAN_RAW);
37 // Attempts to open a socket to CAN bus
38 ::strcpy(ifr.ifr_name, device_name.c_str());
39 AFB_DEBUG("ifr_name is : %s", ifr.ifr_name);
40 if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
42 AFB_ERROR("ioctl failed. Error was : %s", strerror(errno));
47 tx_address_.can_family = AF_CAN;
48 tx_address_.can_ifindex = ifr.ifr_ifindex;
50 if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
52 AFB_ERROR("Bind failed. %s", strerror(errno));
59 std::shared_ptr<message_t> socketcan_raw_t::read_message()
61 std::shared_ptr<can_message_t> cm = std::make_shared<can_message_t>();
62 struct canfd_frame frame;
64 const struct sockaddr_can& addr = get_tx_address();
65 socklen_t addrlen = sizeof(addr);
68 ssize_t nbytes = ::recvfrom(socket(), &frame, sizeof(frame), 0, (struct sockaddr*)&addr, &addrlen);
69 ifr.ifr_ifindex = addr.can_ifindex;
70 ioctl(socket(), SIOCGIFNAME, &ifr);
72 //AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
73 AFB_DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, frame.can_id, frame.len,
74 frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4], frame.data[5], frame.data[6], frame.data[7]);
77 ioctl(socket(), SIOCGSTAMP, &tv);
78 uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
79 cm = ::can_message_t::convert_from_frame(frame , nbytes, timestamp);
84 int socketcan_raw_t::write_message(message_t& m)
86 AFB_WARNING("Not implemented");